CN103616681A - Radar imaging method based on Zynq-series FPGA - Google Patents

Radar imaging method based on Zynq-series FPGA Download PDF

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CN103616681A
CN103616681A CN201310648828.3A CN201310648828A CN103616681A CN 103616681 A CN103616681 A CN 103616681A CN 201310648828 A CN201310648828 A CN 201310648828A CN 103616681 A CN103616681 A CN 103616681A
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CN103616681B (en
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全英汇
陈杰
邢孟道
李亚超
姚鑫东
冉磊
肖川江
徐炜
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Xidian University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/89Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/9004SAR image acquisition techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/89Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41Details 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

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention discloses a radar imaging method based on a Zynq-series FPGA. The method mainly solves the problems that an existing imaging system is complex in structure, long in development period and not transportable. The method includes the implementation steps that data required for radar imaging are generated with Matlab software and introduced into Vidado HLS software, and the data undergo pulse compression in the software so as to achieve radar imaging; the progress for achieving radar imaging is optimized, an optimized result is converted into a register transfer level; time sequence simulation is performed on the RTL through Modelsim software so as to meet requirements of a handshaking mechanism; the RTL meeting the requirements of the handshaking mechanism is led out with Vivado HLS software, so that the register transfer level becomes a universal IP core having the radar imaging function; the generated IP core is called in the FPGA, data are input at the input end of the IP core according to the time sequence, radar imaging data are obtained at the output end of the IP core, and therefore radar imaging in the FPGA is completed. According to the method, the structure of the radar imaging system is simplified, the development period is shortened, and the radar imaging system is transportable.

Description

Radar imaging method based on Zynq Series FPGA
Technical field
The invention belongs to digital signal processing technique field, relate to and a kind ofly by Zynq Series FPGA, realize radar imaging method, can be widely used in the fields such as target following, remote sensing, Video processing.
Background technology
Synthetic-aperture radar SAR has distance and bearing two dimension high resolving power, can make high-resolution two-dimensional imaging to scene.Can be round-the-clock, round-the-clock, target detected and locate at a distance, play an important role in a lot of fields.The most basic step of radar imagery algorithm is exactly pulse compression, when transponder pulse, pulse is narrower, signal band is wider, but launch very narrow pulse, have very high peak power, practical difficulty is very large, conventionally all adopt broadband signal wide when large, after reception, by pulse compression, obtain burst pulse.
In existing technology, major part is all to go to realize radar imagery with DSP, in the signal-processing board card of up-to-date making, eight core DSP of the up-to-date release of main Shi Yong TI company go to realize radar imagery, although this method development efficiency is high, realizes mass ratio poor, processing speed is slow, and system architecture is complicated, power consumption is very large.There is realizing with FPGA the method for radar imagery for this reason, for example Jiang Wei China in 2009 describes how with FPGA, to realize orientation pulse compression at the interim paper < < delivering of < < electronics science > > magazine the 22nd volume the 10th in detail in the design > > based on FPGA radar imagery orientation pulse compression system, although this method has also obtained good effect, but the implementation procedure complexity of the method is loaded down with trivial details, resource utilization is not high, and necessarily require developer to possess very abundant RTL commissioning experience, need to carry out the effect that debugging repeatedly just can obtain providing in document to FPGA program, this makes the construction cycle very long, and the method does not possess portability, can only be applicable to specific FPGA.
Summary of the invention
The object of the invention is to the deficiency for prior art, a kind of method that realizes radar imagery by Zynq Series FPGA is provided, to simplify signal processing system structure, shorten the construction cycle, and realize its portability.
For achieving the above object, implement as follows:
(1) the carrier frequency f of input radar signal c, pulse width T and frequency modulation width B, target is to the vertical range R of radar, in Matlab software, generate respectively the echo signal data, distance of radar to the data of adaptation function and the data of azimuth match function, and these three data are left in respectively in three different .dat files;
(2) the Vivado HLS software carrying by Zynq Series FPGA is read three data in .dat file, and by the echo signal data of reading, to adaptation function data and azimuth match function data, carry out pulse compression with the distance of reading respectively, to realize the radar imagery in Vivado HLS software;
(3) to realize the process of radar imagery in Vivado HLS software, be optimized, make that its resource utilization is minimum, throughput is maximum, processing speed is the fastest, and be converted into the Method at Register Transfer Level RTL that can be loaded into FPGA;
(4) the Method at Register Transfer Level RTL generating in step (3) is carried out to sequential emulation, whether the sequential that judges Method at Register Transfer Level RTL meets handshake mechanism, if met, execution step (5), otherwise, return to step (3) process of radar imagery is optimized again, until the sequential of Method at Register Transfer Level RTL meets handshake mechanism;
(5) with Vivado HLS software, with the form of IP-XACT, derive the Method at Register Transfer Level RTL that meets handshake mechanism, Method at Register Transfer Level RTL is become and there is the universal I P core of radar imagery function, then IP kernel is added in the IP kernel bank of Zynq Series FPGA;
(6) be invoked at the IP kernel in FPGA, and at the input end of IP kernel, input radar echo signal data, distance to adaptation function data, azimuth match function data according to sequential, at the output terminal of IP kernel, obtain the data of radar imagery, complete the radar imagery in FPGA.
The present invention compared with prior art has the following advantages:
The first, first extendible Zynq Series FPGA of the whole world that the present invention adopts company of match SEL to release, this novel FPGA closely integrates complete arm processor SOC (system on a chip) SoC and 28nm low-power consumption FPGA (Field Programmable Gate Array).Zynq Series FPGA has abundant internal resource and external interface, and processing speed is fast, and dirigibility is good, low in energy consumption.
Second, the higher synthesis instrument Vivado HLS that the present invention utilizes Zynq Series FPGA to carry, directly the radar imagery code of realizing is converted to the Method at Register Transfer Level RTL that can be loaded into FPGA in Vivado HLS software, and this process development personnel do not need to understand any knowledge about Method at Register Transfer Level RTL.This has saved, and developer manually writes, the complicated processes of debug registers transmitting stage RTL, greatly shortens the construction cycle, and Performance Ratio realizes same algorithm and improve 40 times in multi-core DSP, and power consumption is also less.
The 3rd, the present invention is due to the radar imagery code of realizing in Vivado HLS software is optimized, its performance is close with the Method at Register Transfer Level RTL manually writing, reduced resource utilization, improved throughput, but the method than the Method at Register Transfer Level RTL manually writing is simple, and greatly improved development efficiency.
The 4th, the universal I P core with radar imagery function that the present invention derives with the form of IP-XACT with Vivado HLS software, is not only applicable to Zynq Series FPGA, but also is applicable to the FPGA of other companies of match SEL, has extraordinary portability.
Accompanying drawing explanation
Fig. 1 is the general flow chart of realizing of the present invention;
When being Optimized code of the present invention, Fig. 2 makes the data stream dataflow pattern diagram that processing speed is fast adopted;
Fig. 3 is radar imagery figure of the present invention;
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
With reference to Fig. 1, specific embodiment of the invention step is as follows:
Step 1. generates the required data of radar imagery in Matlab software.
(1a) by the carrier frequency f of radar signal c, pulse width T, frequency modulation width B, carrier aircraft speed V and target be to the vertical range R of radar, inputs to commercial Matlab software, by this Software Create radar emission signal, be:
s t(t 1)=a r(t 1)*exp(jπK(t 1) 2),
Wherein, t 1for fast time, a r(t 1) be the envelope of radar emission signal,
Figure BDA0000430068830000031
frequency modulation rate for radar emission signal;
(1b) according to radar echo signal, be the characteristic of the delay of radar emission signal, the expression formula of radar echo signal slow time domain in m-orientation when distance is fast is:
s ( t 1 , t m ; R ) = a r ( t 1 - 2 R ( t m ; R ) c ) * a a ( t m ) * exp [ j&pi;K ( t 1 - 2 R ( t m ; R ) c ) 2 ] * exp [ - j 4 &pi; &lambda; R ( t m ; R ) ] ,
Wherein, t mfor slow time, a r(.) and a athe distance that (.) is respectively radar echo signal is to window function and orientation to window function,
Figure BDA0000430068830000033
centered by wavelength corresponding to frequency, c is the light velocity, exp (.) represents to get exponent arithmetic;
(1c), according to radar echo signal, show that the distance of radar echo signal is to adaptation function s r(t 1) be radar emission signal s t(t 1) conjugation symmetrical, s r ( t 1 ) = s t * ( - t 1 ) = a r ( t 1 ) * exp ( - j&pi;K ( t 1 ) 2 ) ;
(1d), according to radar echo signal, show that the azimuth match function of radar echo signal is:
s a(t m;R)=a a(t m)*exp(-jπK m(R)(t m) 2),
Wherein, K m ( R ) = - 2 V 2 &lambda;R For doppler frequency rate;
(1e) according to the expression formula s (t of above-mentioned radar echo signal slow time domain in m-orientation when distance is fast 1, t m; R), the distance of radar echo signal is to the expression formula s of adaptation function r(t 1), the expression formula s of the azimuth match function of radar echo signal a(t m; R), in Matlab software, generate radar echo signal data d1, distance to adaptation function data d2, azimuth match function data d3, and these three data that generate are left in respectively in three different .dat files.
Step 2. realizes radar imagery in Vivado HLS software.
(2a) the Vivado HLS software carrying by Zynq Series FPGA is read three data in .dat file;
(2b) the radar echo signal data d1 reading is carried out to distance to Fast Fourier Transform (FFT), the distance of reading is carried out to Fast Fourier Transform (FFT) to adaptation function data d2, and by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again its product is carried out to distance to inverse fast fourier transform, obtain the distance of radar echo signal to pulse compression data d4;
(2c) distance of radar echo signal is carried out to orientation to Fast Fourier Transform (FFT) to pulse compression data d4, the azimuth match function data d3 reading is carried out to Fast Fourier Transform (FFT), and by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again its product is carried out to orientation to inverse fast fourier transform, obtain the orientation of radar echo signal to pulse compression data d5.
Through above-mentioned to radar echo signal data d1 carry out distance to orientation to pulse compression, just realized the radar imagery in Vivado HLS software.
The process that step 3. pair realizes radar imagery in Vivado HLS software is optimized.
In order to make to realize in Vivado HLS software, the resource utilization of radar imagery is minimum, throughput is maximum, processing speed is the fastest, need to be optimized the process of imaging, and concrete steps are as follows:
(3a) limit the use of operational character, force to make program sharing multiplier, so that operational character usage quantity is minimum.Multiplying is in radar imagery program, to use maximum computings, multiplying in FPGA, to need to utilize multiplier to realize, but the multiplier resources of FPGA is very in short supply, thus force to make program sharing multiplier, so that operational character usage quantity is minimum.In Vivado HLS software, input instruction config_bind min_op mul, just can realize the object that makes program sharing multiplier, wherein config_bind represents to arrange binding, and min_op represents to make operational character usage quantity minimum, and mul represents it is multiplying operator;
(3b) launch the loop statement in radar imagery program completely, realize and execute all circulations within a clock period.Utilize in Vivado HLS software and there is the function that the loop statement in program is launched, according to the degree of launching, can be divided into completely and launch, partly launch and do not launch three classes.For making throughput reach maximum, in the present invention the loop statement in program is launched completely, in Vivado HLS software, input launches instruction set_directive_unroll completely, just can complete loop statement and launch completely, realizes and execute all circulations within a clock period.
(3c) radar imagery programming is become to pattern of traffic, so that the function executed in parallel in program.Utilizing FPGA is this feature of device of complete parallel, and programming is become to data stream dataflow pattern, and the principle of work of data stream dataflow pattern as shown in Figure 3.If usage data does not flow dataflow pattern, radar imagery program is exactly that order is carried out, as shown in figure (2a), three function f unA, funB, funC is that order is carried out, after funA function executes, start to carry out funB function, carry out again funC function after executing funB function; But the previous function such as in data stream dataflow pattern, just do not need to execute completely, only need to wait previous function to carry out after the clock period, next function just can start to carry out, and has so just greatly shortened the stand-by period, makes processing speed the fastest, as shown in figure (2b), three function f unA, funB, funC is executed in parallel, as long as can start to carry out funB function while waiting funA function to have output, just start to carry out funC function while waiting funB function to have output.Input traffic instruction set_directive_dataflow in Vivado HLS software, just can complete a radar imagery programming is data stream dataflow pattern.
Step 4. couple Method at Register Transfer Level RTL carries out sequential emulation.
In the present invention, use professional emulation tool Modelsim software to carry out sequential emulation to Method at Register Transfer Level RTL, judge whether the sequential of Method at Register Transfer Level RTL meets handshake mechanism.Described handshake mechanism refers to that transmit leg is before sending data to take over party, must first send out a request signal to take over party, and whether inquiry take over party has been ready to receive data; If take over party has been ready to receive data, return to a confirmation signal to transmit leg; Transmit leg just starts to send data after receiving the confirmation signal.If the sequential of Method at Register Transfer Level RTL meets handshake mechanism, perform step (5), otherwise, return to step (3) radar imagery process is re-started to optimization, until the sequential of Method at Register Transfer Level RTL meets handshake mechanism.
Step 5. derives the Method at Register Transfer Level RTL through sequential emulation.
(5a) with Vivado HLS software, with the form of IP-XACT, derive Method at Register Transfer Level RTL, Method at Register Transfer Level RTL is become have the universal I P core of radar imagery function, this IP kernel comprises: clock signal sys_clk, reset signal sys_reset, commencing signal ap_start, settling signal ap_done, idle signal ap_idle, radar echo signal data echo_data, distance is to adaptation function data rg_data, azimuth match function data az_data, output data ap_return;
(5b) above-mentioned IP kernel is added in the IP kernel bank of Zynq Series FPGA, the form of derivation is not only confined to IP-XACT form, can also be the Pcore form that is applicable to embedded system, and the System Generator form that is applicable to Matlab software.
Step 6. is called IP kernel in FPGA.
Sequential is called in setting, is about to radar imagery in FPGA and is divided into two stages and carries out;
First stage: at the clock signal sys_clk of IP kernel rising edge, if commencing signal ap_start is high level, start to input radar echo signal data echo_data, distance to adaptation function data rg_data, azimuth match function data az_data to IP kernel simultaneously, on the contrary inoperation;
Subordinate phase: after a clock period, commencing signal ap_start becomes low level, then according to the idle signal ap_idle in IP kernel, judge whether IP kernel finishes the work:
If idle signal ap_idle is low level, show that IP kernel works;
If idle signal ap_idle is high level, and settling signal ap_done is also high level, shows that IP kernel finishes the work, and now the output data ap_return of IP kernel is the data of final radar imagery.
Effect of the present invention by experiment result further embodies.
1. experiment condition
If there are five point targets in scene, and they are identical to electromagnetic reflection potential, and radar is positive side-looking work, does not consider the impact of range migration;
2. experiment content
Method of the present invention is carried out radar imagery to five point targets, and result is as Fig. 3.Fig. 3 shows that five point targets are very clear.Visible, utilize Vivado HLS software in Znyq Series FPGA, to realize radar imagery and can meet the demands completely, and avoided manually writing, the complicated processes of debug registers transmitting stage RTL, greatly shorten the construction cycle.

Claims (5)

1. the radar imaging method based on Zynq Series FPGA, comprises the steps:
(1) the carrier frequency f of input radar signal c, pulse width T and frequency modulation width B, target is to the vertical range R of radar, in Matlab software, generate respectively the echo signal data, distance of radar to the data of adaptation function and the data of azimuth match function, and these three data are left in respectively in three different .dat files;
(2) the Vivado HLS software carrying by Zynq Series FPGA is read three data in .dat file, and by the echo signal data of reading, to adaptation function data and azimuth match function data, carry out pulse compression with the distance of reading respectively, to realize the radar imagery in Vivado HLS software;
(3) to realize the process of radar imagery in Vivado HLS software, be optimized, make that its resource utilization is minimum, throughput is maximum, processing speed is the fastest, and be converted into the Method at Register Transfer Level RTL that can be loaded into FPGA;
(4) the Method at Register Transfer Level RTL generating in step (3) is carried out to sequential emulation, whether the sequential that judges Method at Register Transfer Level RTL meets handshake mechanism, if met, execution step (5), otherwise, return to step (3) process of radar imagery is optimized again, until the sequential of Method at Register Transfer Level RTL meets handshake mechanism;
(5) with Vivado HLS software, with the form of IP-XACT, derive the Method at Register Transfer Level RTL that meets handshake mechanism, Method at Register Transfer Level RTL is become and there is the universal I P core of radar imagery function, then IP kernel is added in the IP kernel bank of Zynq Series FPGA;
(6) be invoked at the IP kernel in FPGA, and at the input end of IP kernel, input radar echo signal data, distance to adaptation function data, azimuth match function data according to sequential, at the output terminal of IP kernel, obtain the data of radar imagery, complete the radar imagery in FPGA.
2. the radar imaging method based on Zynq Series FPGA according to claim 1, wherein step (2) described by the echo signal data of reading, to adaptation function data and azimuth match function data, carry out pulse compression with the distance of reading respectively, carry out as follows:
(2a) echo signal data of reading is carried out to distance to Fast Fourier Transform (FFT), the distance of reading is carried out to Fast Fourier Transform (FFT) to adaptation function data, by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again its product is carried out to distance to inverse fast fourier transform, obtain the distance of echoed signal to pulse compression data;
(2b) distance of echoed signal is carried out to orientation to Fast Fourier Transform (FFT) to pulse compression data, the azimuth match function data of reading is carried out to Fast Fourier Transform (FFT), by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again its product is carried out to orientation to inverse fast fourier transform, obtain the orientation of echoed signal to pulse compression data.
3. the radar imaging method based on Zynq Series FPGA according to claim 1, what wherein step (3) was described being optimized realize the process of radar imagery in Vivado HLS software, carries out as follows:
(3a) by share multiplier, reduce operational character usage quantity, make resource utilization minimum;
(3b), by the loop statement in program is launched, make it within a clock period, just can execute all circulations, to reach throughput maximum;
(3c), by being data stream dataflow pattern program setting, make the program can executed in parallel, so that processing speed is the fastest.
4. the radar imaging method based on Zynq Series FPGA according to claim 1, the IP kernel in wherein said step (5), it comprises following signal:
Clock signal sys_clk,
Reset signal sys_reset,
Commencing signal ap_start,
Settling signal ap_done,
Idle signal ap_idle,
Radar echo signal data echo_data,
Distance to adaptation function data rg_data,
Azimuth match function data az_data,
Output data ap_return.
5. the radar imaging method based on Zynq Series FPGA according to claim 1, the sequential in wherein said step (6), comprises two stages:
First stage: at the rising edge of clock signal sys_clk, if commencing signal ap_start is high level, start simultaneously to input radar echo signal data, distance to adaptation function data, azimuth match function data to IP kernel;
Subordinate phase: after a clock period, commencing signal ap_start becomes low level, according to idle signal ap_idle, judges whether IP kernel finishes the work:
If idle signal ap_idle is low level, show that IP kernel works;
If idle signal ap_idle is high level and settling signal ap_done is also high level, show that IP kernel finished the work, the value of now exporting data ap_return is the data of final radar imagery.
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