CN119179072A - Millimeter wave radar speed disambiguation method and system - Google Patents
Millimeter wave radar speed disambiguation method and system Download PDFInfo
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Abstract
The invention belongs to the technical field of millimeter wave radars, and relates to a millimeter wave radar speed disambiguation method and system. The method comprises the steps of transmitting a first group of transmitted waveform signals and a second group of transmitted waveform signals by a transmitter, carrying out two-dimensional FFT processing on echo signals to obtain two-dimensional spectrum data, carrying out target detection on the two-dimensional spectrum data to obtain detection results, carrying out target angle measurement on each target obtained by target detection to obtain angle information of each target, carrying out fuzzy matching by using a remainder theorem until matching is successful to obtain speed fuzzy multiple when matching is successful, and calculating to obtain real speed of the target. The invention uses the target angle to carry out the hypothesis matching, and the target angle is much higher than the target amplitude stability and is not influenced by RCS flicker, so the success rate of target matching is greatly improved, and simultaneously under the condition of multiple targets, the angles of the targets are generally different, so the deblurring success rate of the multiple targets can be improved.
Description
Technical Field
The invention belongs to the technical field of millimeter wave radars, and particularly relates to a millimeter wave radar speed disambiguation method and system.
Background
In millimeter wave radar applications, the range of the radar in which the speed is not blurred is determined by the pulse repetition frequency of the radar, and when the target speed exceeds the range of the radar in which the speed is not blurred, the speed measurement result of the radar on the target is blurred, so that the speed solution is required.
The existing deblurring method generally adopts a staggered PRF (pulse repetition frequency ) method to carry out speed deblurring, two groups of waveforms with different pulse repetition frequencies PRF are transmitted, target detection is carried out respectively, the obtained two groups of targets are matched, detection points with similar target amplitudes are generally considered to be the same target, and the Chinese remainder is used for determining and calculating the speed blur multiple. Under the condition of multiple targets, the condition that different target amplitudes are similar usually exists, the target matching error is easy to cause, so that the fuzzy solving is failed, and due to the RCS (Radar Cross Section, radar scattering cross section) flicker characteristic of the targets, the difference of the amplitudes of two detection points of the same target obtained by two groups of waveforms is large, so that the targets cannot be matched, and the fuzzy solving is failed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a millimeter wave radar speed disambiguation method and system.
In a first aspect, the present invention provides a millimeter wave radar speed disambiguation method, including:
The transmitter transmits a first group of transmission waveform signals and a second group of transmission waveform signals, wherein the first group of transmission waveform signals and the second group of transmission waveform signals are two groups of waveform signals with different pulse repetition periods;
the receiver receives echo signals of two groups of transmitted waveform signals, and performs two-dimensional FFT processing on the echo signals to obtain two-dimensional spectrum data;
performing target detection on the two-dimensional frequency spectrum data by using a target detection CFAR algorithm to obtain a detection result corresponding to the first group of emission waveform signals and a detection result corresponding to the second group of emission waveform signals;
Performing target angle measurement on each target obtained by target detection to obtain angle information of each target;
The method comprises the steps of calculating real speeds corresponding to set speed fuzzy multiples according to each target in detection results corresponding to a first group of emission waveform signals, obtaining detection speeds of the targets in a second group of emission waveform signals by using the maximum non-fuzzy speeds of the second group of emission waveform signals to carry out fuzzy matching by using a remainder theorem based on angle information of the targets;
and calculating the real speed of the target according to the detection speed and the speed fuzzy multiple when the matching is successful.
In a second aspect, the invention provides a millimeter wave radar speed disambiguation system, which comprises a transmitting unit, a receiving unit, a target detection unit, an angle measurement unit, a matching unit and a processing unit;
The device comprises a transmitting unit, a transmitting unit and a receiving unit, wherein the transmitting unit is used for transmitting a first group of transmitting waveform signals and a second group of transmitting waveform signals by a transmitter;
The receiving unit is used for receiving echo signals of the two groups of transmitted waveform signals by the receiver, and carrying out two-dimensional FFT processing on the echo signals to obtain two-dimensional spectrum data;
the target detection unit is used for carrying out target detection on the two-dimensional frequency spectrum data by using a target detection CFAR algorithm to obtain detection results corresponding to the first group of emission waveform signals and detection results corresponding to the second group of emission waveform signals;
The angle measurement unit is used for measuring the target angle of each target obtained by target detection to obtain the angle information of each target;
The matching unit is used for carrying out fuzzy matching by utilizing a remainder theorem based on the angle information of the targets and comprises calculating the real speed corresponding to the set speed fuzzy multiple according to each target in the detection results corresponding to the first group of emission waveform signals, and obtaining the detection speed of the target in the second group of emission waveform signals by utilizing the maximum non-fuzzy speed of the second group of emission waveform signals to carry out the remainder on the real speed, wherein the target matched with the detection speed is searched in the detection results corresponding to the second group of emission waveform signals until the matching is successful, and the speed fuzzy multiple when the matching is successful is obtained;
and the processing unit is used for calculating the real speed of the target according to the detection speed and the speed fuzzy multiple when the matching is successful.
On the basis of the technical scheme, the invention can be improved as follows.
Further, it is provided withFor the distance-dimensional position of the target,The Doppler position of the target is obtained by detecting the target, and the position of the target is obtained by the detection of the target in a coordinate pairRepresentation, the firstThe positions of the individual targets are expressed asLet the firstThe angle of each target isThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the first group of emission waveform signals are expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed as,Setting the speed fuzzy multiple as the maximum fuzzy number,The maximum unambiguous velocity of the first set of transmitted waveform signals is set to beThe maximum unambiguous velocity of the second set of transmit waveform signals isSetting the real speed corresponding to the speed fuzzy multiple asThen:。
Further, the detection speed of the target in the second set of transmitted waveform signals is set as The angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed asSearching for a target matched with the detection speed in the detection results corresponding to the second group of emission waveform signals, if the target existsSo thatAnd (2) andIf the speed fuzzy multiple is smaller than or equal to the set threshold, the matching is successful, otherwise, the speed fuzzy multiple is reset until the matching is successful, and the speed fuzzy multiple when the matching is successful is obtained.
Further, the speed fuzzy multiple when the matching is successful is set asThe maximum unambiguous velocity of the first set of transmit waveform signals isThe true speed of the target isThen:
。
The invention has the beneficial effects that the target angle is used for carrying out hypothesis matching, and the target angle is much higher than the target amplitude stability and is not influenced by RCS flicker, so that the success rate of target matching is greatly improved, and meanwhile, under the condition of multiple targets, the deblurring success rate of the multiple targets can be improved because the angles of the targets are generally different.
Drawings
Fig. 1 is a schematic diagram of a millimeter wave radar speed disambiguation method provided in embodiment 1 of the present invention;
FIG. 2 is a waveform diagram of a transmitter transmitting two different pulse repetition periods of a transmitted waveform signal;
FIG. 3 is a schematic diagram showing the speed and position of a target in the detection results corresponding to two sets of transmitted waveform signals;
fig. 4 is a schematic diagram of a millimeter wave radar speed disambiguation system provided in embodiment 2 of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Example 1
As an embodiment, as shown in fig. 1, to solve the above technical problem, the present embodiment provides a millimeter wave radar speed disambiguation method, including:
The transmitter transmits a first group of transmission waveform signals and a second group of transmission waveform signals, wherein the first group of transmission waveform signals and the second group of transmission waveform signals are two groups of waveform signals with different pulse repetition periods;
the receiver receives echo signals of two groups of transmitted waveform signals, and performs two-dimensional FFT processing on the echo signals to obtain two-dimensional spectrum data;
performing target detection on the two-dimensional frequency spectrum data by using a target detection CFAR algorithm to obtain a detection result corresponding to the first group of emission waveform signals and a detection result corresponding to the second group of emission waveform signals;
Performing target angle measurement on each target obtained by target detection to obtain angle information of each target;
The method comprises the steps of calculating real speeds corresponding to set speed fuzzy multiples according to each target in detection results corresponding to a first group of emission waveform signals, obtaining detection speeds of the targets in a second group of emission waveform signals by using the maximum non-fuzzy speeds of the second group of emission waveform signals to carry out fuzzy matching by using a remainder theorem based on angle information of the targets;
and calculating the real speed of the target according to the detection speed and the speed fuzzy multiple when the matching is successful.
In the practical application process, the transmitter transmits two kinds of transmission waveform signals with different pulse repetition periods, as shown in fig. 2, where (a) in fig. 2 is a first set of transmission waveform signals, (b) in fig. 2 is a second set of transmission waveform signals, the horizontal axis is time t, the vertical axis is frequency f, the low level duration of the first set of transmission waveform signals is Tw1, the high level duration Tc1, the low level duration of the second set of transmission waveform signals is Tw2, and the high level duration Tc2, as shown in fig. 2, is less than Tw2.
The receiver receives the two sets of echo signals and performs two-dimensional FFT processing to obtain two sets of two-dimensional FFT spectrums. For the same target, since the pulse repetition frequencies of the transmission signals are different, the speeds and positions of the same target on the 2 groups of spectrums are different, as shown in fig. 3, the real points refer to the targets, fig. 3 (c) is the target in the detection result corresponding to the first group of transmission waveform signals, fig. 3 (d) is the target in the detection result corresponding to the second group of transmission waveform signals, the horizontal axis represents the speed V, and the vertical axis represents the position R.
Alternatively, provideFor the distance-dimensional position of the target,The Doppler position of the target is obtained by detecting the target, and the position of the target is obtained by the detection of the target in a coordinate pairRepresentation, the firstThe positions of the individual targets are expressed asLet the firstThe angle of each target isThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the first group of emission waveform signals are expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed as,Setting the speed fuzzy multiple as the maximum fuzzy number,The maximum unambiguous velocity of the first set of transmitted waveform signals is set to beThe maximum unambiguous velocity of the second set of transmit waveform signals isSetting the real speed corresponding to the speed fuzzy multiple asThen:。
The set of detection results corresponding to the first group of emission waveform signals is The set of detection results corresponding to the first group of emission waveform signals isResult set of detection for first group of transmitted waveform signalsEach of the targets in (a)Setting the speed fuzzy multiple asCalculating to obtain the assumed real speedThe maximum unambiguous velocity of the second set of transmit waveform signalsFor the real speed corresponding to the fuzzy multiple of the set speedSumming up to obtain the detection speed of the target in the second set of transmitted waveform signalsAccordingly, the set of detection results at the second set of transmit waveformsFind out if there is a speed ofIs a detection target.
Optionally, the detection speed of the target in the second set of transmitted waveform signals is set toThe angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed asSearching for a target matched with the detection speed in the detection results corresponding to the second group of emission waveform signals, if the target existsSo thatAnd (2) andIf the speed fuzzy multiple is smaller than or equal to the set threshold, the matching is successful, otherwise, the speed fuzzy multiple is reset until the matching is successful, and the speed fuzzy multiple when the matching is successful is obtained.
And (2) andAnd if the target matching in the detection result corresponding to the second group of emission waveform signals is successful, if the target matching is not successful, continuing to perform matching verification by the next assumption multiple until the target matching is successful.
Optionally, setting the speed fuzzy multiple asThe maximum unambiguous velocity of the first set of transmit waveform signals isThe true speed of the target isThen:
。
Before the speed defuzzification operation is carried out on the targets, the angle measurement is carried out on the targets to obtain the angle measurement result of each target, in the speed defuzzification process, the target angle is used for defuzzification matching to replace the traditional matching using the target amplitude, the traditional defuzzification method uses the target amplitude for matching, and the target amplitude is influenced by the target RCS flicker, so that the change is very large, the difference of the same target amplitude obtained by two groups of emission waveforms is possibly very large, and the defuzzification failure is easy to cause. The invention innovatively uses the target angle to carry out hypothesis matching, and the target angle is much higher than the target amplitude stability and is not influenced by RCS flicker, so that the success rate of target matching is greatly improved, and meanwhile, under the condition of multiple targets, the angles of the targets are generally different, so that the fuzzy success rate of the multiple targets can be improved.
Example 2
Based on the same principle as the method shown in the embodiment 1 of the present invention, as shown in fig. 4, the embodiment of the present invention further provides a millimeter wave radar speed disambiguation system, which includes a transmitting unit, a receiving unit, a target detecting unit, an angle measuring unit, a matching unit and a processing unit;
The device comprises a transmitting unit, a transmitting unit and a receiving unit, wherein the transmitting unit is used for transmitting a first group of transmitting waveform signals and a second group of transmitting waveform signals by a transmitter;
The receiving unit is used for receiving echo signals of the two groups of transmitted waveform signals by the receiver, and carrying out two-dimensional FFT processing on the echo signals to obtain two-dimensional spectrum data;
the target detection unit is used for carrying out target detection on the two-dimensional frequency spectrum data by using a target detection CFAR algorithm to obtain detection results corresponding to the first group of emission waveform signals and detection results corresponding to the second group of emission waveform signals;
The angle measurement unit is used for measuring the target angle of each target obtained by target detection to obtain the angle information of each target;
The matching unit is used for carrying out fuzzy matching by utilizing a remainder theorem based on the angle information of the targets and comprises calculating the real speed corresponding to the set speed fuzzy multiple according to each target in the detection results corresponding to the first group of emission waveform signals, and obtaining the detection speed of the target in the second group of emission waveform signals by utilizing the maximum non-fuzzy speed of the second group of emission waveform signals to carry out the remainder on the real speed, wherein the target matched with the detection speed is searched in the detection results corresponding to the second group of emission waveform signals until the matching is successful, and the speed fuzzy multiple when the matching is successful is obtained;
and the processing unit is used for calculating the real speed of the target according to the detection speed and the speed fuzzy multiple when the matching is successful.
Alternatively, provideFor the distance-dimensional position of the target,The Doppler position of the target is obtained by detecting the target, and the position of the target is obtained by the detection of the target in a coordinate pairRepresentation, the firstThe positions of the individual targets are expressed asLet the firstThe angle of each target isThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the first group of emission waveform signals are expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed as,Setting the speed fuzzy multiple as the maximum fuzzy number,The maximum unambiguous velocity of the first set of transmitted waveform signals is set to beThe maximum unambiguous velocity of the second set of transmit waveform signals isSetting the real speed corresponding to the speed fuzzy multiple asThen:。
optionally, the detection speed of the target in the second set of transmitted waveform signals is set to The angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed asSearching for a target matched with the detection speed in the detection results corresponding to the second group of emission waveform signals, if the target existsSo thatAnd (2) andIf the speed fuzzy multiple is smaller than or equal to the set threshold, the matching is successful, otherwise, the speed fuzzy multiple is reset until the matching is successful, and the speed fuzzy multiple when the matching is successful is obtained.
Optionally, setting the speed fuzzy multiple asThe maximum unambiguous velocity of the first set of transmit waveform signals isThe true speed of the target isThen:
。
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A millimeter wave radar speed disambiguation method, comprising:
The transmitter transmits a first group of transmission waveform signals and a second group of transmission waveform signals, wherein the first group of transmission waveform signals and the second group of transmission waveform signals are two groups of waveform signals with different pulse repetition periods;
the receiver receives echo signals of two groups of transmitted waveform signals, and performs two-dimensional FFT processing on the echo signals to obtain two-dimensional spectrum data;
performing target detection on the two-dimensional frequency spectrum data by using a target detection CFAR algorithm to obtain a detection result corresponding to the first group of emission waveform signals and a detection result corresponding to the second group of emission waveform signals;
Performing target angle measurement on each target obtained by target detection to obtain angle information of each target;
The method comprises the steps of calculating real speeds corresponding to set speed fuzzy multiples according to each target in detection results corresponding to a first group of emission waveform signals, obtaining detection speeds of the targets in a second group of emission waveform signals by using the maximum non-fuzzy speeds of the second group of emission waveform signals to carry out fuzzy matching by using a remainder theorem based on angle information of the targets;
and calculating the real speed of the target according to the detection speed and the speed fuzzy multiple when the matching is successful.
2. The millimeter wave radar speed disambiguation method of claim 1, whereinFor the distance-dimensional position of the target,The Doppler position of the target is obtained by detecting the target, and the position of the target is obtained by the detection of the target in a coordinate pairRepresentation, the firstThe positions of the individual targets are expressed asLet the firstThe angle of each target isThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe speed of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the first group of emission waveform signals are expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed as,Setting the speed fuzzy multiple as the maximum fuzzy number,The maximum unambiguous velocity of the first set of transmitted waveform signals is set to beThe maximum unambiguous velocity of the second set of transmit waveform signals isSetting the real speed corresponding to the speed fuzzy multiple asThen:。
3. the method for speed disambiguation of a millimeter wave radar according to claim 1, wherein the detected speed of the target in the second set of transmitted waveform signals is set to be The angle of the target in the detection result corresponding to the first group of emission waveform signals is expressed asThe angle of the target in the detection result corresponding to the second group of emission waveform signals is expressed asThe targets in the detection results corresponding to the second group of emission waveform signals are expressed asSearching for a target matched with the detection speed in the detection results corresponding to the second group of emission waveform signals, if the target existsSo thatAnd (2) andIf the speed fuzzy multiple is smaller than or equal to the set threshold, the matching is successful, otherwise, the speed fuzzy multiple is reset until the matching is successful, and the speed fuzzy multiple when the matching is successful is obtained.
4. The millimeter wave radar speed disambiguation method of claim 1, wherein the speed disambiguation factor when the matching is successful is set to beThe maximum unambiguous velocity of the first set of transmit waveform signals isThe true speed of the target isThen:
。
5. The millimeter wave radar speed disambiguation system is characterized by comprising a transmitting unit, a receiving unit, a target detection unit, an angle measurement unit, a matching unit and a processing unit;
The device comprises a transmitting unit, a transmitting unit and a receiving unit, wherein the transmitting unit is used for transmitting a first group of transmitting waveform signals and a second group of transmitting waveform signals by a transmitter;
The receiving unit is used for receiving echo signals of the two groups of transmitted waveform signals by the receiver, and carrying out two-dimensional FFT processing on the echo signals to obtain two-dimensional spectrum data;
the target detection unit is used for carrying out target detection on the two-dimensional frequency spectrum data by using a target detection CFAR algorithm to obtain detection results corresponding to the first group of emission waveform signals and detection results corresponding to the second group of emission waveform signals;
The angle measurement unit is used for measuring the target angle of each target obtained by target detection to obtain the angle information of each target;
The matching unit is used for carrying out fuzzy matching by utilizing a remainder theorem based on the angle information of the targets and comprises calculating the real speed corresponding to the set speed fuzzy multiple according to each target in the detection results corresponding to the first group of emission waveform signals, and obtaining the detection speed of the target in the second group of emission waveform signals by utilizing the maximum non-fuzzy speed of the second group of emission waveform signals to carry out the remainder on the real speed, wherein the target matched with the detection speed is searched in the detection results corresponding to the second group of emission waveform signals until the matching is successful, and the speed fuzzy multiple when the matching is successful is obtained;
and the processing unit is used for calculating the real speed of the target according to the detection speed and the speed fuzzy multiple when the matching is successful.
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|---|---|---|---|---|
| FR2483086A1 (en) * | 1980-05-22 | 1981-11-27 | Martin Philippe | SIGNAL PROCESSING METHOD FOR SIDE-OPEN AND OPEN SYNTHESIZED RADAR AND IMPLEMENTATION CIRCUIT |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2483086A1 (en) * | 1980-05-22 | 1981-11-27 | Martin Philippe | SIGNAL PROCESSING METHOD FOR SIDE-OPEN AND OPEN SYNTHESIZED RADAR AND IMPLEMENTATION CIRCUIT |
| CN111044987A (en) * | 2019-12-26 | 2020-04-21 | 成都纳雷科技有限公司 | Method, system and medium for resolving ambiguity of environmental target speed based on automobile radar |
| CN114002654A (en) * | 2021-06-30 | 2022-02-01 | 惠州市德赛西威智能交通技术研究院有限公司 | A method for resolving velocity ambiguity in millimeter-wave radar |
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| Title |
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