CN103616681B - Radar imaging method based on Zynq-series FPGA - Google Patents

Radar imaging method based on Zynq-series FPGA Download PDF

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CN103616681B
CN103616681B CN201310648828.3A CN201310648828A CN103616681B CN 103616681 B CN103616681 B CN 103616681B CN 201310648828 A CN201310648828 A CN 201310648828A CN 103616681 B CN103616681 B CN 103616681B
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radar
signal
kernel
fpga
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CN103616681A (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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    • 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
    • G01S13/00—Systems 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/9004—SAR image acquisition techniques
    • 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
    • G01S13/00—Systems 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • 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

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

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

Based on the radar imaging method of Zynq Series FPGA
Technical field
The invention belongs to digital signal processing technique field, relate to one Zynq Series FPGA and realize radar imaging method, the fields such as target following, remote sensing, Video processing can be widely used in.
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 round-the-clock, round-the-clock, at a distance detection and positioning is carried out to target, 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, broadband signal wide when usually all adopting large, obtains burst pulse by pulse compression after reception.
In existing technology, major part is all go to realize radar imagery with DSP, in the signal transacting board of up-to-date making, mainly go to realize radar imagery with eight core DSP of the up-to-date release of TI company, although this method development efficiency is high, realize mass ratio poor, processing speed is slow, and system architecture is complicated, power consumption is very large.There is the method realizing radar imagery with FPGA for this reason, such as Jiang Wei China in 2009 describes how to realize orientation pulse compression with FPGA in detail in the interim paper " design based on FPGA radar imagery orientation pulse compression system " delivered of " electronics science " magazine the 22nd volume the 10th, although this method have also been 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 just can obtain to the debugging carried out repeatedly of FPGA program the effect that provides in document, this makes the construction cycle very long, and the method does not possess portability, specific FPGA can only be applicable to.
Summary of the invention
The object of the invention is to the deficiency for prior art, provide a kind of Zynq Series FPGA to realize the method for radar imagery, 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 radar signal is inputted c, pulse width T and frequency modulation width B, target is to the vertical range R of radar, in Matlab software, generate the echo signal data of radar, the data of distance to adaptation function and the data of azimuth match function respectively, and these three data are left in respectively in three different .dat files;
(2) data in three .dat files are read with the Vivado HLS software that Zynq Series FPGA carries, and the echo signal data that will read, pulse compression is carried out to adaptation function data and azimuth match function data, to realize the radar imagery in Vivado HLS software respectively with the distance read;
(3) process realizing radar imagery in Vivado HLS software is optimized, makes 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) time stimulatiom is carried out to the Method at Register Transfer Level RTL generated in step (3), judge whether the sequential of Method at Register Transfer Level RTL meets handshake mechanism, if met, perform step (5), otherwise, then return step (3) process to radar imagery again to optimize, until the sequential of Method at Register Transfer Level RTL meets handshake mechanism;
(5) to derive with the form of IP-XACT with Vivado HLS software and meet the Method at Register Transfer Level RTL of handshake mechanism, Method at Register Transfer Level RTL is become have the universal I P core of radar imagery function, then IP kernel is added in the IP kernel bank of Zynq Series FPGA;
(6) IP kernel in FPGA is invoked at, and input radar echo signal data, distance to adaptation function data, azimuth match function data according to sequential at the input end of IP kernel, obtain the data of radar imagery at the output terminal of IP kernel, namely complete the radar imagery in FPGA.
The present invention compared with prior art has the following advantages:
The first, the extendible Zynq Series FPGA in first, the whole world that the present invention adopts company of match SEL to release, complete arm processor SOC (system on a chip) SoC and 28nm low-power consumption FPGA (Field Programmable Gate Array) closely integrate by this novel FPGA.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 realized in VivadoHLS software is converted to the Method at Register Transfer Level RTL that can be loaded into FPGA, and this process development personnel do not need to understand any knowledge about Method at Register Transfer Level RTL.This eliminate that developer manually writes, the complicated processes of debug registers transmitting stage RTL, greatly shorten the construction cycle, and Performance Ratio realizes same algorithm and improves 40 times in multi-core DSP, power consumption is also less.
3rd, the present invention is owing to being optimized the radar imagery code realized in Vivado HLS software, its performance is close with the Method at Register Transfer Level RTL manually write, namely resource utilization is reduced, improve throughput, but simpler than the method for the Method at Register Transfer Level RTL manually write, and substantially increase development efficiency.
The universal I P core with radar imagery function that 4th, the present invention Vivado HLS software is derived with the form of IP-XACT, 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 of the present inventionly realizes general flow chart;
The data stream dataflow pattern diagram that processing speed is fast adopted is made when Fig. 2 is Optimized code of the present invention;
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 data needed for 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 to the vertical range R of radar, input 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 the fast time, a r(t 1) be the envelope of radar emission signal, for the frequency modulation rate of radar emission signal;
(1b) according to radar echo signal be the characteristic of delay of radar emission signal, radar echo signal in the expression formula apart from the slow time domain in orientation m-time fast is:
s ( t 1 , t m ; R ) = a r ( t 1 - 2 R ( t m ; R ) c ) * a a ( t m ) * exp [ jπK ( t 1 - 2 R ( t m ; R ) c ) 2 ] * exp [ - j 4 π λ R ( t m ; R ) ] ,
Wherein, t mfor the slow time, a r(.) and a athe distance that (.) is respectively radar echo signal to window function and orientation to window function, centered by wavelength corresponding to frequency, c is the light velocity, and exp (.) represents and gets 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, namely s r ( t 1 ) = s t * ( - t 1 ) = a r ( t 1 ) * exp ( - jπK ( 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 λR For doppler frequency rate;
(1e) according to above-mentioned radar echo signal at the expression formula s (t apart from the slow time domain in orientation m-time 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 generated are left in three different .dat files respectively.
Step 2. realizes radar imagery in Vivado HLS software.
(2a) data in three .dat files are read with the Vivado HLS software that Zynq Series FPGA carries;
(2b) distance is carried out to Fast Fourier Transform (FFT) to the radar echo signal data d1 read, to adaptation function data d2, Fast Fourier Transform (FFT) is carried out to the distance read, and by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again distance is carried out to inverse fast fourier transform to its product, obtain the distance of radar echo signal to pulse compression data d4;
(2c) orientation is carried out to Fast Fourier Transform (FFT) to pulse compression data d4 to the distance of radar echo signal, Fast Fourier Transform (FFT) is carried out to the azimuth match function data d3 read, and by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again orientation is carried out to inverse fast fourier transform to its product, 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 achieve the radar imagery in Vivado HLS software.
Step 3. is optimized the process realizing radar imagery in Vivado HLS software.
In order to make, the resource utilization realizing radar imagery in Vivado HLS software is minimum, throughput is maximum, processing speed is the fastest, and need to be optimized the process of imaging, concrete steps are as follows:
(3a) limit the use of operational character, force to make program sharing multiplier, to make operational character usage quantity minimum.Multiplying uses maximum computings in radar imagery program, and multiplying needs to utilize multiplier to realize in FPGA, but the multiplier resources of FPGA is very in short supply, so force to make program sharing multiplier, to make operational character usage quantity minimum.Instruction config_bind min_op mul is inputted in Vivado HLS software, just can realize the object making program sharing multiplier, wherein config_bind represents and arranges binding, and min_op represents that 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 executing all circulations within a clock period.Utilize in Vivado HLS software the function having and the loop statement in program is launched, expansion completely, part expansion can be divided into according to the degree launched and not launch three classes.Reach maximum for making throughput, in the present invention the loop statement in program is launched completely, namely input in Vivado HLS software and launch instruction set_directive_unroll completely, just can complete loop statement and launch completely, realize executing all circulations within a clock period.
(3c) radar imagery programming is become pattern of traffic, to make the function executed in parallel in program.Utilize FPGA to be this feature of device of complete parallel, programming is become data stream dataflow pattern, and the principle of work of data stream dataflow pattern as shown in Figure 3.If not usage data stream dataflow pattern, radar imagery program is exactly that order performs, as shown in figure (2a), three function f unA, funB, funC are that order performs, start after funA function executes to perform funB function, after namely executing funB function, perform funC function again; But in data stream dataflow pattern, the previous function such as just not need execute completely, after the previous function such as only needing perform a clock period, next function just can start to perform, and so just substantially reduces the stand-by period, makes processing speed the fastest, as shown in figure (2b), three function f unA, funB, funC are executed in parallel, as long as have during output Deng funA function and can start to perform funB function, wait funB function to have during output and just start to perform funC function.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 time stimulatiom.
In the present invention, use the emulation tool Modelsim software of specialty to carry out time stimulatiom 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, first must 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, then return a confirmation signal to transmit leg; Transmit leg just starts after receiving the confirmation signal to send data.If the sequential of Method at Register Transfer Level RTL meets handshake mechanism, perform step (5), otherwise, then return step (3) and optimization is re-started to radar imagery process, until the sequential of Method at Register Transfer Level RTL meets handshake mechanism.
Step 5. derives the Method at Register Transfer Level RTL through time stimulatiom.
(5a) Method at Register Transfer Level RTL is derived with Vivado HLS software with the form of IP-XACT, 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, exports data ap_return;
(5b) added to by above-mentioned IP kernel 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 being applicable to embedded system, and is applicable to the System Generator form of Matlab software.
Step 6. calls IP kernel in FPGA.
Sequential is called in setting, and the radar imagery be about in FPGA is divided into two stages to carry out;
First stage: at the clock signal sys_clk rising edge of IP kernel, if commencing signal ap_start is high level, then 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, judges whether IP kernel finishes the work:
If idle signal ap_idle is low level, then show that IP kernel works;
If idle signal ap_idle is high level, and settling signal ap_done is also high level, then show that IP kernel is finished the work, and now the output data ap_return of IP kernel is the data of final radar imagery.
Effect of the present invention can result embody by experiment further.
1. experiment condition
If have five point targets in scene, and they are identical to electromagnetic reflection potential, radar is positive side-looking work, does not consider the impact of range migration;
2. experiment content
Method of the present invention carries out radar imagery to five point targets, and result is as Fig. 3.It is very clear that Fig. 3 shows five point targets.Visible, utilize Vivado HLS software in Znyq Series FPGA, realize radar imagery and can meet the demands completely, and avoid manually write, the complicated processes of debug registers transmitting stage RTL, greatly shorten the construction cycle.

Claims (4)

1., based on a radar imaging method for Zynq Series FPGA, comprise the steps:
(1) the carrier frequency f of radar signal is inputted c, pulse width T and frequency modulation width B, target is to the vertical range R of radar, in Matlab software, generate the echo signal data of radar, the data of distance to adaptation function and the data of azimuth match function respectively, and these three data are left in respectively in three different .dat files;
(2) data in three .dat files are read with the Vivado HLS software that Zynq Series FPGA carries, and the echo signal data that will read, pulse compression is carried out to adaptation function data and azimuth match function data, to realize the radar imagery in Vivado HLS software respectively with the distance read:
(2a) distance is carried out to Fast Fourier Transform (FFT) to the echo signal data read, to adaptation function data, Fast Fourier Transform (FFT) is carried out to the distance read, by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again distance is carried out to inverse fast fourier transform to its product, obtain the distance of echoed signal to pulse compression data;
(2b) orientation is carried out to Fast Fourier Transform (FFT) to pulse compression data to the distance of echoed signal, Fast Fourier Transform (FFT) is carried out to the azimuth match function data read, by the result conjugate multiplication of both Fast Fourier Transform (FFT)s, again orientation is carried out to inverse fast fourier transform to its product, obtain the orientation of echoed signal to pulse compression data;
(3) process realizing radar imagery in Vivado HLS software is optimized, makes 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) time stimulatiom is carried out to the Method at Register Transfer Level RTL generated in step (3), judge whether the sequential of Method at Register Transfer Level RTL meets handshake mechanism, if met, perform step (5), otherwise, then return step (3) process to radar imagery again to optimize, until the sequential of Method at Register Transfer Level RTL meets handshake mechanism;
(5) derive the Method at Register Transfer Level RTL meeting handshake mechanism with the form of IP-XACT with Vivado HLS software, Method at Register Transfer Level RTL is become have the universal I P core of radar imagery function, then IP kernel is added in the IP kernel bank of Zynq Series FPGA;
(6) IP kernel in FPGA is invoked at, and input radar echo signal data, distance to adaptation function data, azimuth match function data according to sequential at the input end of IP kernel, obtain the data of radar imagery at the output terminal of IP kernel, namely complete the radar imagery in FPGA.
2. the radar imaging method based on Zynq Series FPGA according to claim 1, the process realizing radar imagery in Vivado HLS software is optimized wherein described in step (3), carry 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, maximum to reach throughput;
(3c) by being data stream dataflow pattern program setting, make program can executed in parallel, to make processing speed the fastest.
3. 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,
Export data ap_return.
4. 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, then start to input radar echo signal data, distance to adaptation function data, azimuth match function data to IP kernel simultaneously;
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, then show that IP kernel works;
If idle signal ap_idle is high level and settling signal ap_done is also high level, then show that IP kernel has been finished the work, the value now exporting data ap_return is the data of final radar imagery.
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