CN101738602A - Echo data preprocessing method for pseudorandom sequences applied to ground penetrating radar - Google Patents
Echo data preprocessing method for pseudorandom sequences applied to ground penetrating radar Download PDFInfo
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Abstract
The invention discloses an echo data prepossessing method for pseudorandom sequences applied to a ground penetrating radar, and relates to the microwave probing technology. The method comprises the following steps: grouping long pseudorandom sequences according to a functional blind area of the ground penetrating radar; transmitting a grouped pseudorandom sequence in turn when the ground penetrating radar transmits; and in each transmission period, preprocessing echo data and fusing the echo data transmitted in groups to form complete echo data capable of being used for imagery processing. The method overcomes the defect that the conventional processing method cannot realize the application of the overlong pseudorandom sequences to the ground penetrating radar, solves the problem of large functional blind area in the conventional processing method, effectively improves the dynamic range of the ground penetrating radar system and increases the detection range of the ground penetrating radar.
Description
Technical field
The present invention relates to ultra-wideband microwave Detection Techniques field pseudo-random sequence echo data preprocessing method in ground penetrating radar is used, particularly a kind of to the emission of overlength pseudo-random sequence, reception and the pretreated method of echo data.
Background technology
Differentiate theory according to radar,, require signal to have big bandwidth for distance accuracy and the range resolution that improves ground penetrating radar.In order to improve the investigation depth of ground penetrating radar, require signal to have big energy.Under the situation of the emission of system and feed equipment peak-power limited, big signal energy can only be by increasing time wide the obtaining of signal.So, in order to improve the spy ground degree of depth, measuring accuracy and the resolution characteristic of ground penetrating radar, require signal have big bandwidth, the time wide, energy product.The time wide and bandwidth product of single carrier frequency pulse signal approaches 1, and wide and bandwidth can not get both when big, therefore needs to adopt to have the long-pending pulse compression signal of wide bandwidth when big.
Pseudo-random sequence is a kind of of pulse compression signal, is to be the long pulse of the T subpulse that to be divided into N width be τ with width.The phase place of subpulse can have multiple modulator approach, if the value of phase place be only limited to get 0, two numerical value of π, claim that then this coded signal is the biphase coding signal.If the value of phase place can be got plural numerical value.Then claim heterogeneous coded signal.The principal feature of sort signal is: ambiguity function is approximate drawing pin type mostly, and uniform non-zero base station is arranged around the spike; The inverse of wide τ when bandwidth is sub-symbols, the time wide bandwidth product be code length N; When code length N much larger than 1 the time, the peak value master secondary lobe ratio of autocorrelation function levels off to
So adopt long pseudo-random sequence, under the situation that does not reduce resolution, just can obtain the pulse compression signal that big time wide bandwidth amasss, can improve emissive power, improve the system dynamics scope, increase the detection range of ground penetrating radar.
Pseudo-random sequence will be modulated on certain carrier frequency launches, and have energy loss because electromagnetic wave transmits under the face of land, and loss is directly proportional with electromagnetic frequency.In ground penetrating radar, general under the situation that resolution meets the demands in order to obtain big investigation depth, select low frequency of operation as far as possible.
The workflow of ground penetrating radar promptly transmits with the impulse form emission generally according to pulsed operation, transmits and receives and hockets, at T launch time
tIn, receiver is selected not receive owing to the influence of direct wave and for security consideration, if therefore launch T
tDuration is longer, and then the effect blind area of Dui Ying radar is big more.
By above-mentioned elaboration as can be known, in order to reach very dark detection range, need the very long pseudo-random sequence of emission, and adopt lower carrier frequency, but therefore can bring very big radar work blind area, can't realize even.
Summary of the invention
At the problems referred to above, the inventor proposes a kind of pseudo-random sequence that can adopt overlength, and does not increase the disposal route of the work blind area of ground penetrating radar.Fundamental purpose of the present invention is: propose a kind of on the basis that changes present ground penetrating radar workflow, preprocess method to echo data, the overlength pseudo-random sequence is applied to ground penetrating radar, enlarge the system dynamics scope of ground penetrating radar, the investigation depth of raising ground penetrating radar, and be not cost with peak power that improves radar and the work blind area that increases radar.
The objective of the invention is to realize by following technological approaches:
A kind of pseudo-random sequence is echo data preprocessing method in ground penetrating radar is used, and it is characterized in that, comprising:
Steps A) sequence of packets is that the pseudo-random sequence of N is divided into the subsequence that the m group length is n (N, m, n are integer) with length, refers to the subcode number that pseudorandom series is comprised during the length of pseudo-random sequence;
Step B) grouping emission, each pulse repetition time is launched one group of subsequence that comprises n subcode, and m pulse repetition time finished the emission of a long pseudo-random sequence; Total m group subsequence in (because steps A), a pulse repetition time is only launched one group, so need m pulse repetition time, m and steps A herein) in m identical, represent an onesize number)
Step C) echo data pre-service is carried out pre-service to echo data, obtains to be used for the complete echo data of imaging processing.
Described disposal route, its described steps A) sequence of packets, comprising:
Steps A 1:, determine the emission maximum pulse width T according to the requirement of radar system to the work blind area
t
Steps A 2: emission maximum pulse width T
tCarrier cycle issue n1 and carrier cycle τ divided by each subcode modulation
cLong-pending, obtain the subcode number n that the emission maximum pulse width comprises;
Steps A 3: long pseudo-random sequence length N obtains to have launched a length pulse repetition time number m that the pseudo-random sequence that is N needs divided by each sub-sequence length n.
Described disposal route, its described step B) the grouping emission, be under the control of radar control module, launch the subcode sequence that length is n successively since first group of subcode sequence, after m pulse repetition time, again since first group of subcode sequence circulation emission.
Described disposal route, its described step C) the echo data pre-service, comprising:
Step C1: the echo data after each pulse repetition time A/D sampling is increased the pulse sign in the data forming process, and pulse identifies from 1 to m repeating label; M in (because needing m pulse repetition time emission, the echo data of all total m pulse repetition times, m and steps A herein altogether) is identical, represents an onesize number)
Step C2: according to data bits and needed data accumulation number of times, the buffer memory width and the degree of depth determining each pulse repetition time and finally export echo data;
Step C3: the current noise level of echo data filtering appts of each pulse repetition time;
Step C4: the echo data of each pulse repetition time merges to the echo data of backward shift and previous pulse repetition time; After finishing the fusion of m-1 secondary data, obtain to be used for a complete frame echo data of imaging processing.M in (m and steps A herein) is identical, represents an onesize number)
Step C5: to increasing frame identification through an above-mentioned pretreated frame echo data;
Described disposal route, its described increase pulse sign is the echo data increase pulse sign to each pulse repetition time, is used for the accumulation of follow-up data.
Described disposal route, the buffer memory width and the degree of depth of its described echo data are in order to prevent that data are overflowed in the accumulative process, and reduce the resource that takies as far as possible and reasonably enlarge the bit wide and the degree of depth of each data.
Described disposal route, the echo data of its described each pulse repetition time is the length n of subsequence, carrier cycle issue n1, the carrier cycle τ of each subcode modulation to the number L of backward shift
cAnd radar system sample rate f
sProduct, i.e. L=n * n1 * τ
c* f
s
Described disposal route, its described echo data filtering appts noise level, the synthesis result that comprises the noise level of radar system thermonoise, quantizing noise and current environment noise, the process of filtering appts noise level are that echo data deducts the noise data level.
Described disposal route, its described frame identification is used for the imaging processing process, increases frame identification for a frame echo data that can be used for imaging processing after the pre-service, and frame identification has the characteristics of obvious difference and echo data.
Described disposal route, finding the solution of its current noise level of system comprises:
Step D1: recording system noise data under the situation of ground penetrating radar system zero input comprises the noise source of system's thermonoise, quantizing noise and current environment noise;
Step D2: noise data is carried out spectrum analysis, the paroxysmal interference noise of filtering;
Step D3: ask for the amplitude and the amplitude equalizing value of noise data, and be converted into the noise data level.
The invention has the beneficial effects as follows: adopted a kind ofly divide into groups to launch, on the basis of the radar workflow of branch group of received, the echo data that receives has been adopted Preprocessing Algorithm, obtained can be used for the complete echo data of imaging processing, launch the workflow of reception fully if adopt present ground penetrating radar, will be owing to the overlength pseudo-random sequence can't be used too greatly in the work blind area, grouping is launched, the radar method of work of branch group of received even adopted, if do not adopt the echoed signal preprocess method among the present invention, can not obtain correct result.The invention enables the overlength pseudo-random sequence to be applied in becomes possibility in the ground penetrating radar, can overcome and adopt present disposal route can't realize and act on the big problem in blind area, enlarged the dynamic range of ground penetrating radar effectively, can under identical emissive power, obtain bigger detection range, and not cause the increase of radar work blind area than present ground penetrating radar.
Description of drawings
Fig. 1 .1 is present ground penetrating radar workflow diagram.
Fig. 1 .2 is an overlength pseudo-random sequence ground penetrating radar workflow diagram of the present invention.
Fig. 2 is the synoptic diagram of echo data Preprocessing Algorithm among the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in detail, be to be noted that described embodiment only is intended to be convenient to the understanding of the present invention, and it is not played any qualification effect.
Fig. 1 .1 is present ground penetrating radar workflow diagram, and Fig. 1 .2 is an overlength pseudo-random sequence ground penetrating radar workflow diagram of the present invention, and wherein, solid box is represented the same treatment mode, and frame of broken lines is represented the different disposal mode.
Shown in Fig. 1 .1 and Fig. 1 .2: for pseudo-random sequence, when especially the overlength pseudo-random sequence is applied to ground penetrating radar, the radar workflow is different from the workflow of present ground penetrating radar, the present invention adopts pseudo-random sequence, particularly the overlength pseudo-random sequence according to the requirement grouping of radar to the work blind area, is launched according to the size control of grouping, after echo signal data carried out pre-service, carry out imaging processing again.
Fig. 1 .2 is the block diagram of pseudo-random sequence of the present invention echo data preprocessing method in ground penetrating radar is used, and it comprises:
Steps A) sequence of packets is that the pseudo-random sequence of N is divided into the subsequence that the m group length is n with length, comprising:
Steps A 1:, determine the emission maximum pulse width T according to the requirement of radar system to the work blind area
t
Steps A 2: emission maximum pulse width T
tCarrier cycle issue n1 and carrier cycle τ divided by each subcode modulation
cLong-pending, obtain the subcode number n that the emission maximum pulse width comprises;
Steps A 3: long pseudo-random sequence length N obtains to have launched a length pulse repetition time number m that the pseudo-random sequence that is N needs divided by each sub-sequence length n.
Step B) grouping emission, each pulse repetition time is launched one group of subsequence that comprises n subcode, m pulse repetition time finished the emission of a long pseudo-random sequence, be under the control of radar control module, launch the subcode sequence that length is n successively since first group of subcode sequence, after m pulse repetition time, again since first group of subcode sequence circulation emission.
Step C) echo data pre-service is carried out pre-service to echo data, obtains to be used for the complete echo data of imaging processing, comprising:
Step C1: the echo data after each pulse repetition time A/D sampling is increased the pulse sign in the data forming process, and pulse identifies from 1 to m repeating label;
Step C2: according to data bits and needed data accumulation number of times, the buffer memory width and the degree of depth determining each pulse repetition time and finally export echo data;
Step C3: the current noise level of echo data filtering appts of each pulse repetition time;
Step C4: the echo data of each pulse repetition time merges to the echo data of backward shift and previous pulse repetition time; After finishing the fusion of m-1 secondary data, obtain to be used for a complete frame echo data of imaging processing.
Step C5: to increasing frame identification through an above-mentioned pretreated frame echo data.
Signal packets method for transmitting of the present invention is at first according to the requirement of radar system to the work blind area, to determine the emission maximum pulse width T
t, again according to the carrier cycle issue n1 and the carrier cycle τ of each subcode modulation
cDetermine the subcode number n that the emission maximum pulse width can comprise, i.e. the subcode number of each pulse repetition time emission.With the emission code length is 65536 overlength pseudo-random sequence, and the coded signal of working carrier frequency 10MHz is embodiment, according to the requirement of radar system work blind area, and the emission maximum pulse width T
tBe 800ns, the carrier cycle issue n1=1 of each subcode modulation, promptly the subcode width is 100ns, can obtain subcode number n=8 of each pulse repetition time emission thus; With length is that to be divided into 8192 group length be 8 subsequence for 65536 pseudo-random sequence, 8 subcodes of each emission, the duration of 8 subcodes is that t is 800ns, needs 8192 pulse repetition times to finish the emission that a length is 65536 overlength pseudo-random sequence altogether.
Fig. 2 is the synoptic diagram of echo data Preprocessing Algorithm among the present invention.With above-mentioned emission length is 65536 pseudo-random sequence, launches 8 subcodes at every turn, and the duration of 8 subcodes is 800ns, echo window T
rLength is 5us, and echo samples speed is f
sFor 60MHz is embodiment, then the echo data length of each pulse repetition time (PRF) is 300 sample points, and the echo data of the more previous PRF of echo data of each PRF is to backward shift t * f
sBehind=48 sampling points with the echo data accumulation of previous PRF, the echo data of finishing whole 8192 PRF successively merges, (8192 * 48+252)=393220 point data are carried out imaging processing to 393220 point data after finishing according to above-mentioned algorithm process in generation.
The concrete steps of Fig. 2 echo data Preprocessing Algorithm are:
Step 1: read echo window data, behind a PRF echo data filtering noise that receives, buffer memory T
r* f
sPoint is to buffer 1;
Step 2: whether the number of judging PRF equals 1, if equal 1, then with the T of buffer 1
r* f
sPoint data deposits buffer 2 in; Change step 3 over to, change step 4 over to if the number of PRF is not equal to 1;
Step 3: buffer 2 is with preceding t * f
sPoint data deposits storer 3 in, returns step 1;
Step 4: buffer 1 is with preceding (t
r-t) * f
sPut back (T with buffer 2
r-t) * f
sPoint adds up by turn, and the result who adds up puts into buffer 2 preceding (T
r-t) * f
sThe point;
Step 5: buffer 1 back t * f
sPoint is put into the back t * f of buffer 2
sThe point;
Step 6: whether the number of judging PRF equals m, if equal m, then the data of buffer 2 is put into storer 3, and the data in the storer 3 are the echo data of ultimate demand, finishes; If the number of PRF is not equal to m, then change step 3 over to.
More than used embodiment, be not that the present invention is done any pro forma restriction, the related amendments that every foundation technical spirit of the present invention is carried out all still belongs to the scope of claim of the present invention protection.
Claims (10)
1. pseudo-random sequence echo data preprocessing method in ground penetrating radar is used is characterized in that, comprising:
Steps A) sequence of packets is that the pseudo-random sequence of N is divided into the subsequence that the m group length is n with length, and the length of pseudo-random sequence is meant the subcode number that pseudo-random sequence comprises, and wherein, N, m, n are the natural number integer;
Step B) grouping emission, each pulse repetition time is launched one group of subsequence that comprises n subcode, and m pulse repetition time finished the emission of a long pseudo-random sequence;
Step C) echo data pre-service is carried out pre-service to echo data, obtains to be used for the complete echo data of imaging processing.
2. disposal route according to claim 1 is characterized in that: described steps A) sequence of packets comprises:
Steps A 1:, determine the emission maximum pulse width T according to the requirement of radar system to the work blind area
t
Steps A 2: emission maximum pulse width T
tCarrier cycle issue n1 and carrier cycle τ divided by each subcode modulation
cLong-pending, obtain the subcode number n that the emission maximum pulse width comprises;
Steps A 3: long pseudo-random sequence length N obtains to have launched a length pulse repetition time number m that the pseudo-random sequence that is N needs divided by each sub-sequence length n.
3. disposal route according to claim 1, it is characterized in that: grouping emission described step B), be under the control of radar control module, launch the subcode sequence that length is n successively since first group of subcode sequence, after m pulse repetition time, again since first group of subcode sequence circulation emission.
4. disposal route according to claim 1 is characterized in that: echo data pre-service described step C) comprises:
Step C1: the echo data after each pulse repetition time A/D sampling is increased the pulse sign in the data forming process, and pulse identifies from 1 to m repeating label;
Step C2: according to data bits and needed data accumulation number of times, the buffer memory width and the degree of depth determining each pulse repetition time and finally export echo data;
Step C3: the current noise level of echo data filtering appts of each pulse repetition time;
Step C4: the echo data of each pulse repetition time merges to the echo data of backward shift and previous pulse repetition time; After finishing the fusion of m-1 secondary data, obtain to be used for a complete frame echo data of imaging processing;
Step C5: to increasing frame identification through an above-mentioned pretreated frame echo data.
5. according to claim 4 described disposal routes, it is characterized in that: described increase pulse sign is the echo data increase pulse sign to each pulse repetition time, is used for the accumulation of follow-up data.
6. according to claim 4 described disposal routes, it is characterized in that: the buffer memory width and the degree of depth of described echo data are in order to prevent that data are overflowed in the accumulative process, and reduce the resource that takies and enlarge the bit wide and the degree of depth of each data.
7. according to claim 4 described disposal routes, it is characterized in that: the echo data of described each pulse repetition time is the length n of subsequence, carrier cycle issue n1, the carrier cycle τ of each subcode modulation to the number L of backward shift
cAnd radar system sample rate f
sProduct, i.e. L=n * n1 * τ
c* f
s
8. according to claim 4 described disposal routes, it is characterized in that: described echo data filtering appts noise level, the synthesis result that comprises the noise level of radar system thermonoise, quantizing noise and current environment noise, the process of filtering appts noise level are that echo data deducts the noise data level.
9. according to claim 4 described disposal routes, it is characterized in that described frame identification is used for the imaging processing process, increase frame identification for a frame echo data that can be used for imaging processing after the pre-service, frame identification has the characteristics of obvious difference and echo data.
10. according to claim 4 and 8 described disposal routes, it is characterized in that: finding the solution of the current noise level of system comprises:
Step D1: recording system noise data under the situation of ground penetrating radar system zero input comprises the noise source of system's thermonoise, quantizing noise and current environment noise;
Step D2: noise data is carried out spectrum analysis, the paroxysmal interference noise of filtering;
Step D3: ask for the amplitude and the amplitude equalizing value of noise data, and be converted into the noise data level.
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| CN105785332A (en) * | 2016-03-07 | 2016-07-20 | 沈阳承泰科技有限公司 | Radar anti-interference method |
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| CN106199538B (en) * | 2016-06-27 | 2019-01-01 | 中国人民解放***箭军工程大学 | For promoting the clutter suppression method of spread spectrum through-wall radar tracking moving-target precision |
| CN113050086A (en) * | 2021-06-01 | 2021-06-29 | 中国南方电网有限责任公司超高压输电公司广州局 | Ground penetrating radar system, control method, device, equipment and storage medium |
| CN114966560A (en) * | 2022-07-29 | 2022-08-30 | 中南大学 | Ground penetrating radar backward projection imaging method and system |
| CN114966560B (en) * | 2022-07-29 | 2022-10-28 | 中南大学 | Ground penetrating radar backward projection imaging method and system |
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