CN107907878A - The method that high accuracy obtains fmcw radar distance measure - Google Patents
The method that high accuracy obtains fmcw radar distance measure Download PDFInfo
- Publication number
- CN107907878A CN107907878A CN201711087511.1A CN201711087511A CN107907878A CN 107907878 A CN107907878 A CN 107907878A CN 201711087511 A CN201711087511 A CN 201711087511A CN 107907878 A CN107907878 A CN 107907878A
- Authority
- CN
- China
- Prior art keywords
- data
- module
- domain
- discrete
- frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A kind of method that a kind of high accuracy disclosed by the invention obtains fmcw radar distance measure, it is intended to propose that range accuracy is high, error of spectrum distance measure method can be reduced.The technical scheme is that：The target Beat Signal for having completed analog-to-digital conversion is sent into four parallel time-domain abstraction modules, the digital Beat Signal and sampling rate that will be obtained respectively, it is respectively fed to carry out time domain zero padding filling in data padding module, four tunnel time-domain abstraction modules obtain the time-domain signal that length is Ns, Discrete Fourier Transform is carried out by corresponding DFT block, obtain the discrete frequency domain signal that length is Ns, discrete frequency domain signal is held and is sent into the splicing computing that data cutout carries out frequency domain data with concatenation module by four DFT blocks altogether, distance measure acquisition module will be passed through based on mathematical interpolation operation result, obtain fmcw radar distance measure.
Description
Technical field
The present invention relates to one kind to be suitable for fmcw radar system, in the motion process that target draws near acquisition precision by
The method of the distance measure gradually improved.
Background technology
Radar system can be divided into continuous wave radar and pulse radar according to waveform, fmcw radar because its have it is higher excellent
Good distance resolution and range accuracy, low-power and are largely used to various range-measurement systems without the features such as measurement distance blind area
In.Range accuracy problem in fmcw radar range-measurement system is common to all range-measurement systems using FMCW systems.
In fmcw radar ranging, simplest method is the difference frequency of direct measurement transmitted wave and echo-signal, obtains distance, but ranging essence
Degree is not high.At present, fmcw radar ranging generally obtains power spectrum curve (distance of the echo in distance axis using FFT methods
Spectrum), by signal is sampled and fft algorithm analysis and then extract distance measure, reach obtain High Range Resolution and
The purpose of high measurement accuracy.But " fence effect " due to FFT in itself so that the distance spectrum tool directly obtained using FFT
There is the fixed sampling interval, so that larger range error is produced, and can bigger in low coverage measurement occasion relative error.
In fmcw radar signal, frequency measurement error determines range error.Assuming that (measured value of difference frequency signal is continuously become in continuous measurement
Change, can not possibly accomplish in practice) in the case of, after doing Fourier transformation to difference frequency signal, the spectrum amplitude peak value of difference frequency signal
It can be exactly found, so measurement accuracy is mainly determined by signal-to-noise ratio.But in practice, discrete adopt generally is carried out to difference frequency signal
Sample, then carries out FFT transform, this results in Discrete spectrum, looks for inaccurate spectrum amplitude peak value, causes frequency to sampled signal
Quantization error.FM-CW laser ranging system composition is divided into nonlinear frequency modulation and linear frequency modulation, the former advantage is easy to implement, is lacked
Point is the difference frequency signal that each target produces and information processing frequency is not single, therefore cannot distinguish between the mesh of different distance
Mark, applies in general to the occasion of single goal；And difference frequency signal caused by each target of the latter is single-frequency (without considering more
General Le frequency displacement), therefore it is easily discriminated the target of different distance.It is theoretical according to Fourier transformation, for the sine of single-frequency
Signal, the corresponding frequency of Amplitude maxima after its Fourier transformation (FT) is the frequency of signal, after finding Fourier transformation
Amplitude maxima can observe the frequency of signal.As long as there is sufficiently high signal-to-noise ratio, the amplitude after Fourier transformation is utilized
To estimate that signal frequency can reach sufficiently high precision.And the distance resolution of frequency modulated continuous wave radar will depend on frequency
Measurement Resolution, general frequency measurement are realized by carrying out FFT processing to difference frequency signal.Using FFT technique to signal into
During line frequency spectrum analysis, analysis precision is largely determined by aliasing effect, quantization error, leakage effect and fence effect.Quantization error
It is caused by analog signal digital process with aliasing effect, leakage effect and fence effect are that discrete Fourier transform institute is intrinsic
's.Due to " fence effect " of FFT so that the distance spectrum directly obtained using FFT has fixed sampling interval Δ R, from
And the range error produced, this make it that range radar is larger in the relative error of closely lower measurement.Analysis shows, increase FFT
Spectral line quantity, raising spectral resolution can weaken the influence of leakage effect and fence effect, but due to adding sampling length, will
Increase time overhead.To improve frequency resolution, such as counted with conventional FFT methods analysis, just only increase conversion.Such as
This, the operand and memory capacity of computer will all greatly increase, this brings very big difficulty to hardware configuration.Therefore, inside
Deposit with sampling length it is limited in the case of, both however loss ceiling frequency, again increase resolution ratio be contradiction.Due to FMCW thunders
What is reached is limited apart from fixed error by swept bandwidth, spacing frequency of FFT (DFT) the spectrum estimation precision between by FFT spectral lines
The limitation of quantization is directly obviously unable to reach required precision in the more demanding occasion of measurement accuracy using FFT spectrum estimation.
Fmcw radar has very high range accuracy in theory, but is all to pass through Digital Signal Processing in systems in practice
Method its echo-signal is handled, so as to obtain echo power spectrum, and then obtain its range information, thus sampled
Limitation with handling word length.In systems in practice, due to the fence effect of Discrete Fourier Transform DFT transform so that its distance
Resolving power and range accuracy are in the same order of magnitude, can not meet high-precision requirement during closely ranging.Cause frequency modulation continuous
The basic reason of ripple radar range error is the sampling interval on its distance spectrum, and its essence is DFT is carried out a little on unit circle
Caused by equal interval sampling.To improve the range accuracy of frequency modulated continuous wave radar, most direct method is exactly to improve on distance spectrum
Sampling density, that is, increase DFT points, the operand of DFT increases to MNlog2MN by Nlog2N at this time, it is seen that operand increase
Amplitude it is very big, in the timing of processor speed one, the operation time of signal processing can be increased, so as to influence frequency modulated continuous wave radar
The real-time of system.
In fmcw radar, in order to obtain with apart from corresponding difference frequency and Doppler frequency, passing through radar system
R-T unit launched and received signal and then obtain difference frequency signal, by the dominant frequency of difference frequency signal come extract distance letter
Breath.The conversion of analog and digital signal is completed to Beat Signal using analog-digital converter ADC, is obtained by equation (1) and (2)
The distance R and speed V of target are obtained,
C is electromagnetic wave transmission speed in uniform dielectric in above formula, and T is frequency sweep cycle, and B is signal bandwidth, FrFor apart from beat
Information, FcFor the working frequency of system
As can be seen from the above equation, under conditions of frequency sweep cycle and signal bandwidth are certain, the distance letter of target with high precision is obtained
Breath, it is necessary to obtain accurate difference frequency.It is to obtain its frequency using discrete Fourier transform DFT that difference frequency is obtained in engineering
Rate, discrete Fourier transform DFT completes the mathematic(al) manipulation in time domain and frequency domain to the digital signal blocked by adding window, and
There is interval between these discrete points, it can be influenced be subject to fence effect, so the interval △ between DFT processing post-sampling points
F make it that the peak value meeting relative theory peak value after signal processing is to the left or to the right, so the frequency values meter for passing through maximum sampled point
The distance calculated can produce the range error of △ R/2.
The error of usual frequency measurement can be expressed as the difference in Beat Signal ideal cline frequency domain and discrete frequency domain
Value.Peak frequency measurement error is expressed as, and the step-length of distance and the step sizes of speed are respectively equal to equation (3) and (4).
The error of usual frequency measurement can be expressed as the difference in Beat Signal ideal cline frequency domain and discrete frequency domain
Value.Peak frequency measurement error is expressed asThe step-length of distance and the step sizes of speed are respectively equal to equation (3) and (4).
In above formula, c is electromagnetic wave transmission speed in uniform dielectric, and T is frequency sweep cycle, and B is signal bandwidth, FsFor systematic sampling
Rate, NsIt is equal to Fs*T for discrete data points, it can be seen that range accuracy cannot be by varying FsOr time span T is improved
, only it is improved the bandwidth B of system or increases the points of DFT, allowing frequency domain sample interval to diminish could obtains.Radar system band
The raising of wide B can put forward higher requirements the hardware of whole system, and the operand and memory capacity of computer will all increase greatly
Add, this brings very big difficulty usually unalterable to an existing radar system, its hardware resource to hardware configuration.
In order to improve the fmcw radar range measurement accuracy prior art propose the ZFFT sample sequence zero paddings method based on multiple modulation,
Chirp-Z converter techniques and FFT-DTFT combined techniqueses.The shortcomings that ZFFT is that refinement multiple cannot be too big.ZFFT is due to will be in the 2nd step
Carry out FIR filtering, and the passband design of FIR filter obtain it is too narrow exponent number can be caused excessive, design difficulty increase, so generally
Multiple filtering extraction is taken, big refinement multiple is realized with the refinement of multiple small multiple, but repeatedly filtering extraction result in calculating
The increase of amount, thus the refinement multiple of ZFFT cannot obtain it is too high.And when refinement multiple is larger, Chirp-Z converter techniques occupy
Advantage, but when refinement multiple is larger, the obvious FFT-DTFT combined techniqueses of calculation amount are small because of Chirp-Z converter techniques, and Chirp-
The calculation amount of Z has relation with refinement multiple.Since FMCW difference frequency signals have noise jamming, when refinement multiple brings up to certain limit
Raising effect to range accuracy unobvious, so the ZFFT methods based on multiple modulation are more suited to fmcw radar live signal
Processing.
The content of the invention
The frequency values of the echo-signal based on the fmcw radar system of the invention relation directly proportional to distance value, according to how Kui
Si Tedinglv, target range is more remote, and its sample rate is higher, and target range is nearer, and its sample rate is lower, proposes a kind of range accuracy
Height, the method that the acquisition CW with frequency modulation distance measure of error of spectrum can be reduced.
The above-mentioned purpose of the present invention can be reached by following measures, and a kind of high accuracy obtains fmcw radar range measurement
The method of value, it is characterised in that include the following steps：
In actual echo signal processing, target Beat Signal is sampled using analog-digital converter ADC, is obtained former
Beginning ADC sampled data；Then the target Beat Signal for having completed analog-to-digital conversion is sent into four parallel time-domains and extracts mould
Block, wherein, the 1st~3 time-domain abstraction module extracts echo data in time-domain；Then the data that will be obtained respectively
The digital Beat Signal that rate is 1/8,1/4,1/2 and the data that corresponding sample rate is Fs/8, Fs/4, Fs/2, are respectively fed to pair
Answer progress time domain zero padding filling, the identical time-domain abstraction module in three tunnels in the data padding module of above-mentioned time-domain abstraction module
The time-domain signal that Ns sample point length is the sampling interval is obtained with the 4th tunnel time-domain abstraction module；Above-mentioned four tunnel time-domain is taken out
Modulus block carries out continuous Discrete Fourier Transform by corresponding DFT block, obtains Ns sample point frequency domain sample interval
Discrete frequency domain signal, four DFT blocks hold discrete frequency domain signal altogether to be sent into data cutout and concatenation module and carries out frequency domain number
According to splicing computing, will be based on mathematical interpolation operation result directly pass through distance measure acquisition module, obtain fmcw radar tune
Frequency continuous wave distance measure.
The present invention has the advantages that compared with the prior art.
Range accuracy is high.Analog-digital converter ADC of the present invention samples target Beat Signal, will complete modulus and turns
The target Beat Signal changed is sent into four parallel time-domain abstraction modules, wherein, the 1st~3 time-domain abstraction module is to echo
Data are extracted in time-domain, the data transfer rate obtained respectively be 1/8,1/4,1/2 digital Beat Signal, its corresponding sampling
Rate is Fs/8, Fs/4, Fs/2, and is sent into data padding module zero padding filling, obtains discrete Ns point time-domain signals.In DFT, mend
Zero will not change the appearance of frequency spectrum, that is, will not change frequency resolution, but can weaken fence effect, improve frequency spectrum and differentiate
Rate, that is, spectral sample point can increase, and time domain zero padding is equivalent to frequency interpolation, and zero padding is equivalent to different sample rates pair
Continuous spectrum is sampled, and then reduces spectral sample interval.Do not changing the bar of remaining parameter of system ADC sample rates Yu system
Under part, by formula (3) as can be seen that distance is nearer, reach reduction data transfer rate by extracting, it is constant to reach Ns by zero padding, again
Without prejudice to nyquist sampling theorem, existing resource is made full use of, distance is improved by the computing of mathematical interpolation operational software
Precision, processing is finer, improves radar system to the high-precision range measurement of moving target.Based on anti-between time domain and frequency domain
Interleave method, into row interpolation in frequency domain, improves the measurement accuracy of system, more accurate distance measure is obtained, near region
Multiple target echoes of adhesion can be differentiated, improve the probability of success of systemic defence.
Multi-sources distinguishing ability is strengthened.The present invention is not changing ADC samplings based on the deinterleaving method between time domain and frequency domain
Under conditions of rate, three roads length into after crossing extraction and zero padding processing extracts mould for Ns point time domain data signals and the 4th tunnel time-domain
Block obtain length be Ns point time domain data signals, by corresponding DFT block complete frequency domain between reciprocal cross mistake, in frequency domain into
Row interpolation and mathematics interpolation arithmetic, operation result obtain fmcw radar distance measure by distance measure acquisition module.No
Change radar operation mode, in the case of not redistributing effective resource, without any Resources re engineering of system, fully profit
With the particular kind of relationship of fmcw radar distance and frequency, limited resource is rationally sufficiently utilized, there is provided highdensity frequency spectrum,
The frequency spectrum of more approaching to reality, improves the multi-sources distinguishing ability of system.Based on the deinterleaving method between time domain and frequency domain, in frequency
Into row interpolation in domain, the measurement accuracy of system is improved, obtains more accurate distance measure, can be by the more of adhesion near region
A target echo is differentiated, and target range is nearer, and range accuracy is higher, and multi-sources distinguishing ability is strengthened, and improves systemic defence
The probability of success.
Reduce error of spectrum.Under conditions of ADC sample rates are not changed, the side extracted is used in time-domain to echo data
Method obtains 1/8 data transfer rate, 1/4 data transfer rate, 1/2 data transfer rate；Based on the deinterleaving method between time domain and frequency domain, in time domain
Zero padding filling is completed to carry out interpolation arithmetic in frequency domain.Emulation experiment the result shows that, into row interpolation in frequency domain, improve and be
The measurement accuracy of system, obtains more accurate distance measure, can differentiate multiple target echoes of adhesion near region, improve
The probability of success of systemic defence.
The present invention is especially suitable for closely, high-precision CW with frequency modulation fmcw radar system, in target with respect to radar
In the motion process to draw near, the distance measure that precision gradually steps up is obtained.
Brief description of the drawings
The present invention is further illustrated with reference to the accompanying drawings and detailed description, it is of the invention above-mentioned or
Otherwise advantage will become apparent.
Fig. 1 present invention high accuracy obtains the principle flow chart of fmcw radar distance measure.
The accuracy comparison figure of Fig. 2 present invention before and after the processing.
Fig. 3 present invention obtains the higher and higher analogous diagram of precision before and after the processing.
Embodiment
Refering to Fig. 1.According to the present invention, in actual echo signal processing, using analog-digital converter ADC to target
Beat Signal is sampled, and obtains original ADC sampled datas；Then the target Beat Signal for having completed analog-to-digital conversion is sent into
Four parallel time-domain abstraction modules, wherein, the 1st~3 time-domain abstraction module takes out echo data in time-domain
Take；Then it is Fs/8, Fs/ by digital Beat Signal that the data transfer rate obtained respectively is 1/8,1/4,1/2 and corresponding sample rate
4th, the data of Fs/2, are respectively fed to carry out time domain zero padding filling in the data padding module of corresponding above-mentioned time-domain abstraction module,
Data padding module obtains Ns sample point discrete signal according to sampling thheorem.The identical time-domain abstraction module and the 4th in three tunnels
Road time-domain abstraction module obtains the time-domain signal that Ns sample point length is the sampling interval；Above-mentioned four tunnels time-domain abstraction module
Continuous Discrete Fourier Transform is carried out by corresponding DFT block, obtains the discrete of Ns sample point frequency domain sample interval
Frequency-region signal.The Ns that three Ns, road sample points are directly acquired according to the time-domain abstraction module 4 on discrete signal and the 4th tunnel is a
The combined transformation formula that sample points carry out Discrete Fourier Transform DFT, DFT according to discrete signal carries out each solution point, makes it
As some small points.Four DFT blocks some small point discrete frequency domain signals that solution is divided into are held altogether be sent into data cutout with
Concatenation module carries out the splicing computing of frequency domain data, directly will obtain mould by distance measure based on mathematical interpolation operation result
Block, obtains fmcw radar CW with frequency modulation distance measure.
Data padding module zero padding fills to obtain 4 groups of Ns sample points according to discrete signal, 4 groups of Ns point data discrete signals
Convert to obtain four groups of data frequency domain sample intervals by DFT block be respectively
Discrete frequency domain signal, wherein, Fs is sample rate, and Ns is sample points.
In the motion process to draw near in target with respect to radar, four parallel time-domain abstraction modules are by fmcw radar
Investigative range be divided into it is remote, in, near, super four distance segments of proximal segment, when target is in remote section, distance is substantially carried roughly
Take；When target is positioned at closely in section, 4 groups of data padding modules are sent the points for improving FFT by corresponding 4 groups of DFT blocks
The reciprocal cross entered between data cutout and concatenation module progress frequency domain is wrong, into row interpolation sum number interpolation arithmetic in frequency domain, obtains essence
Spend the distance measure gradually stepped up.
Step 1：Radar system design teacher proposes spy of the radar to target maximum according to the different application scenarios of radar system
Ranging, according to the maximum detectable range Rmax and speed of detection Vmax of setting, calculates corresponding from Rmax and speed of detection Vmax
Frequency of distance Fbmax and Doppler Fdmax；
Step 2：Signal processing engineer sets sample rate Fs >=2* (Fbmax+ of reception system ADC according to Nyquist law
Fdmax)；ADC according to the sample frequency Fs that has set complete one modulation period T analog-to-digital conversion, obtain Ns=Fs*T and return
Ripple sample point, obtains discrete data Z；
Step 3：After temporal decimation module 1 carries out Z 1/8 extraction, Ns/8 sample point is obtained；Data padding module 1 is to Ns/8
A sample point carries out zero padding, data length is brought up to Ns points, DFT block 1 carries out Fu to the output data of data padding module 1
In leaf change to obtain frequency data A；After temporal decimation module 2 carries out discrete data Z 1/4 extraction, Ns/4 sample is obtained
This point；Data padding module 2 carries out zero padding to Ns/4 sample point, data length is brought up to Ns points, DFT block 2 is to data
The output data of zero padding module 2 carries out Fourier and changes to obtain frequency data B；Temporal decimation module 3 to discrete data Z into
After row 1/2 extracts, Ns/2 sample point is obtained；Data padding module 3 carries out zero padding to Ns/2 sample point, and data length is carried
Height arrives Ns points, and DFT block 3 carries out Fourier to the output data of data padding module 3 to be changed to obtain frequency data C；When
After domain abstraction module 4 carries out discrete data Z 1/1 extraction, Ns sample point is obtained；DFT block 4 carries out Fu to Ns sample point
In leaf change to obtain frequency data D；
Step 4：Data cutout intercepts A (Ns/4 respectively with concatenation module:Ns/2)、B(Ns/4:Ns/2)、C(Ns/4:Ns/2)、
(Ns/4:Ns/2), it is spliced into new data Y=[A (Ns/4:Ns/2),B(Ns/4:Ns/2)C(Ns/4:Ns/2)D(Ns/4:Ns/
2)]；
Step 5：Distance value measured value acquisition module is completed to detect to data Y, so that it may is not changing any work of radar system
In the case of parameter, during target draws near, the higher and higher distance measure of aimed at precision is obtained.
As shown in Figure 2.Based on the method for the present invention, result before and after the processing is emulated, the results are shown in Figure 3.
For system during target moves closer to, precision is higher and higher.
The present invention is based on mathematical interpolation computing, improves CW with frequency modulation fmcw radar range measurement accuracy, implements
The method and approach of the technical solution are very much, the above is only one embodiment of the present invention, it is noted that are led for this technology
For the those of ordinary skill in domain, on the premise of present aspect principle is not departed from, some improvements and modifications can be made, these change
Protection scope of the present invention is also should be regarded as into retouching.
Claims (7)
1. a kind of method that high accuracy obtains fmcw radar distance measure, it is characterised in that include the following steps：
In actual echo signal processing, target Beat Signal is sampled using analog-digital converter ADC, is obtained former
Beginning ADC sampled data；Then the target Beat Signal for having completed analog-to-digital conversion is sent into four parallel time-domains and extracts mould
Block, wherein, the 1st~3 time-domain abstraction module extracts echo data in time-domain；Then the data that will be obtained respectively
The digital Beat Signal that rate is 1/8,1/4,1/2 and the data that corresponding sample rate is Fs/8, Fs/4, Fs/2, are respectively fed to pair
Answer progress time domain zero padding filling, three tunnel time-domain abstraction modules and the 4th in the data padding module of above-mentioned time-domain abstraction module
Road time-domain abstraction module obtains time-domain signal of the length for Ns sample point；Above-mentioned four tunnels time-domain abstraction module passes through respective
Corresponding DFT block carries out Discrete Fourier Transform, obtains discrete frequency domain signal of the length for Ns sample point, four DFT moulds
Discrete frequency domain signal is held and is sent into the splicing computing that data cutout carries out frequency domain data with concatenation module by block altogether, will be inserted based on mathematics
It is worth operation result directly by distance measure acquisition module, obtains fmcw radar distance measure.
2. the method that high accuracy as claimed in claim 1 obtains fmcw radar distance measure, it is characterised in that：Three tunnel length
For the Ns point datas discrete signal that the time-domain abstraction module 4 on the discrete signal and the 4th tunnel of Ns sample point directly acquires into
The combined transformation formula of row Discrete Fourier Transform DFT, DFT carry out each decomposition, become some small points.
3. the method that high accuracy as claimed in claim 1 obtains fmcw radar distance measure, it is characterised in that：Data padding
Module zero padding fills to obtain the discrete data of 4 groups of Ns sample points, and 4 groups of Ns point datas discrete signals are become by DFT block to be got in return
It is respectively to four groups of data frequency domain sample intervals
Discrete frequency domain signal, wherein, Fs for sampling
Rate, Ns are sample points.
4. the method that high accuracy as claimed in claim 1 obtains fmcw radar distance measure, it is characterised in that：In target phase
In the motion process to draw near to fmcw radar, four parallel time-domain abstraction modules divide the investigative range of fmcw radar
For it is remote, in, near, super four distance segments of proximal segment, when target is in remote section, distance is extracted roughly；When target is located at low coverage
From in section, the points for improving FFT are sent into data cutout and splicing mould by 4 groups of data padding modules by corresponding 4 groups of DFT blocks
The reciprocal cross that block is carried out between frequency domain is wrong, into row interpolation sum number interpolation arithmetic in frequency domain, obtains the distance that precision gradually steps up and surveys
Value.
5. the method that high accuracy as claimed in claim 1 obtains fmcw radar distance measure, it is characterised in that：According to how Kui
Sample rate Fs >=2* (Fbmax+Fdmax) of Si Tedinglv setting reception systems ADC；ADC is according to the sample frequency Fs set
Complete one modulation period T analog-to-digital conversion, obtain Ns=Fs*T echo samples point, obtain discrete data Z, wherein,
Fbmax, Fdmax are the maximum detectable range Rmax and speed of detection Vmax according to setting, calculate corresponding frequency of distance
Fbmax and Doppler Fdmax.
6. the method that high accuracy as claimed in claim 1 obtains fmcw radar distance measure, it is characterised in that：Temporal decimation
After module 1 carries out discrete data Z 1/8 extraction, Ns/8 sample point is obtained；Data padding module 1 clicks through Ns/8 sample
Row zero padding, brings up to Ns points, DFT block 1 carries out Fourier to the output data of data padding module 1 to be changed by data length
To obtaining frequency data A；After temporal decimation module 2 carries out discrete data Z 1/4 extraction, Ns/4 sample point is obtained；Data are mended
Zero module 2 carries out zero padding to Ns/4 sample point, data length is brought up to Ns points, DFT block 2 is to data padding module 2
Output data carries out Fourier and changes to obtain frequency data B；Temporal decimation module 3 carries out 1/2 to discrete data Z and extracts
Afterwards, Ns/2 sample point is obtained；Data padding module 3 carries out zero padding to Ns/2 sample point, and data length is brought up to Ns points,
DFT block 3 carries out Fourier to the output data of data padding module 3 to be changed to obtain frequency data C；Temporal decimation module
After 4 couples of discrete data Z carry out 1/1 extraction, Ns sample point is obtained；DFT block 4 carries out Fourier to Ns sample point to be changed
To obtaining frequency data D.
7. the method that high accuracy as claimed in claim 1 obtains fmcw radar distance measure, it is characterised in that：Data cutout
Intercept A (Ns/4 respectively with concatenation module:Ns/2)、B(Ns/4:Ns/2)、C(Ns/4:Ns/2)、(Ns/4:Ns/2), it is spliced into new
Data Y=[A (Ns/4:Ns/2),B(Ns/4:Ns/2)C(Ns/4:Ns/2)D(Ns/4:Ns/2)].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711087511.1A CN107907878B (en) | 2017-11-08 | 2017-11-08 | Method for obtaining FMCW radar distance measurement value with high precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711087511.1A CN107907878B (en) | 2017-11-08 | 2017-11-08 | Method for obtaining FMCW radar distance measurement value with high precision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107907878A true CN107907878A (en) | 2018-04-13 |
| CN107907878B CN107907878B (en) | 2021-05-11 |
Family
ID=61842864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711087511.1A Active CN107907878B (en) | 2017-11-08 | 2017-11-08 | Method for obtaining FMCW radar distance measurement value with high precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107907878B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109089A (en) * | 2019-04-28 | 2019-08-09 | 中国电子科技集团公司第二十八研究所 | A kind of improved method of linear frequency modulation continuous wave detection system range measurement accuracy |
| CN110134998A (en) * | 2019-04-11 | 2019-08-16 | 零八一电子集团有限公司 | It digitizes strategic point and defends emulation mode |
| CN111628772A (en) * | 2020-05-13 | 2020-09-04 | 西安电子科技大学 | High-speed high-precision time domain analog-to-digital converter |
| WO2020177647A1 (en) * | 2019-03-01 | 2020-09-10 | 华为技术有限公司 | Method using radio signal to probe target entity, and related device |
| CN112014819A (en) * | 2020-08-27 | 2020-12-01 | 南京矽典微***有限公司 | Digital signal processing method, digital signal processing system and radar chip |
| CN112419664A (en) * | 2020-09-22 | 2021-02-26 | 上海杰擎智能科技有限公司 | Anti-collision early warning system |
| CN112639528A (en) * | 2020-02-07 | 2021-04-09 | 华为技术有限公司 | Ranging method based on frequency modulation nonlinear correction and related device |
| CN112859067A (en) * | 2020-12-31 | 2021-05-28 | 杭州电子科技大学 | Dynamic target monitoring method based on millimeter wave radar |
| CN113009432A (en) * | 2020-02-28 | 2021-06-22 | 加特兰微电子科技(上海)有限公司 | Method, device and equipment for improving measurement precision and target detection precision |
| CN113204005A (en) * | 2021-05-07 | 2021-08-03 | 北京理工大学 | Method and device for improving distance resolving precision of frequency modulated continuous wave laser radar |
| CN113534145A (en) * | 2021-09-16 | 2021-10-22 | 北京安达维尔航空设备有限公司 | Altimeter height measurement method and system based on linear frequency modulation continuous wave system |
| CN113640786A (en) * | 2021-08-10 | 2021-11-12 | 矽典微电子(上海)有限公司 | High-precision FMCW ranging method, device and storage medium |
| CN114578363A (en) * | 2022-03-04 | 2022-06-03 | 苏州优达斯汽车科技有限公司 | Ultrasonic detection system and method |
| CN115469273A (en) * | 2021-06-11 | 2022-12-13 | 宁波飞芯电子科技有限公司 | Method for improving signal-to-noise ratio |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823216A (en) * | 2014-03-10 | 2014-05-28 | 中国科学院电子学研究所 | Distance measurement method for frequency modulation continuous wave radar system |
| CN104793203A (en) * | 2015-04-17 | 2015-07-22 | 中南大学 | Data fusion method used for multi-frequency multichannel ground penetrating radar |
| CN105629224A (en) * | 2016-02-29 | 2016-06-01 | 珠海上富电技股份有限公司 | Frequency-modulated continuous-wave radar high-precision distance measuring method |
| US20160245913A1 (en) * | 2015-02-19 | 2016-08-25 | Korea Advanced Institute Of Science And Technology | Apparatus and method for measuring precipitation in the atmosphere using k-band frequency-modulated continuous wave (fmcw) weather radar system |
| CN106291524A (en) * | 2016-08-05 | 2017-01-04 | 南京理工大学 | LFMCW radar detection movement human mesh calibration method based on anthropometric dummy |
| CN106646455A (en) * | 2016-09-09 | 2017-05-10 | 电子科技大学 | Pavement scattering characteristic measuring method and radar device |
| CN106842144A (en) * | 2015-12-03 | 2017-06-13 | 中国航空工业集团公司雷华电子技术研究所 | Parallel heterogeneous structure digital pulse compression method |
-
2017
- 2017-11-08 CN CN201711087511.1A patent/CN107907878B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823216A (en) * | 2014-03-10 | 2014-05-28 | 中国科学院电子学研究所 | Distance measurement method for frequency modulation continuous wave radar system |
| US20160245913A1 (en) * | 2015-02-19 | 2016-08-25 | Korea Advanced Institute Of Science And Technology | Apparatus and method for measuring precipitation in the atmosphere using k-band frequency-modulated continuous wave (fmcw) weather radar system |
| CN104793203A (en) * | 2015-04-17 | 2015-07-22 | 中南大学 | Data fusion method used for multi-frequency multichannel ground penetrating radar |
| CN106842144A (en) * | 2015-12-03 | 2017-06-13 | 中国航空工业集团公司雷华电子技术研究所 | Parallel heterogeneous structure digital pulse compression method |
| CN105629224A (en) * | 2016-02-29 | 2016-06-01 | 珠海上富电技股份有限公司 | Frequency-modulated continuous-wave radar high-precision distance measuring method |
| CN106291524A (en) * | 2016-08-05 | 2017-01-04 | 南京理工大学 | LFMCW radar detection movement human mesh calibration method based on anthropometric dummy |
| CN106646455A (en) * | 2016-09-09 | 2017-05-10 | 电子科技大学 | Pavement scattering characteristic measuring method and radar device |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177647A1 (en) * | 2019-03-01 | 2020-09-10 | 华为技术有限公司 | Method using radio signal to probe target entity, and related device |
| CN110134998A (en) * | 2019-04-11 | 2019-08-16 | 零八一电子集团有限公司 | It digitizes strategic point and defends emulation mode |
| CN110109089B (en) * | 2019-04-28 | 2021-04-13 | 中国电子科技集团公司第二十八研究所 | Method for improving distance measurement accuracy of linear frequency modulation continuous wave detection system |
| CN110109089A (en) * | 2019-04-28 | 2019-08-09 | 中国电子科技集团公司第二十八研究所 | A kind of improved method of linear frequency modulation continuous wave detection system range measurement accuracy |
| CN112639528A (en) * | 2020-02-07 | 2021-04-09 | 华为技术有限公司 | Ranging method based on frequency modulation nonlinear correction and related device |
| CN112639528B (en) * | 2020-02-07 | 2021-12-14 | 华为技术有限公司 | Ranging method based on frequency modulation nonlinear correction and related device |
| CN113009432A (en) * | 2020-02-28 | 2021-06-22 | 加特兰微电子科技(上海)有限公司 | Method, device and equipment for improving measurement precision and target detection precision |
| CN113009432B (en) * | 2020-02-28 | 2024-05-31 | 加特兰微电子科技(上海)有限公司 | Method, device and equipment for improving measurement accuracy and target detection accuracy |
| CN111628772B (en) * | 2020-05-13 | 2023-09-29 | 西安电子科技大学 | High-speed high-precision time domain analog-to-digital converter |
| CN111628772A (en) * | 2020-05-13 | 2020-09-04 | 西安电子科技大学 | High-speed high-precision time domain analog-to-digital converter |
| CN112014819A (en) * | 2020-08-27 | 2020-12-01 | 南京矽典微***有限公司 | Digital signal processing method, digital signal processing system and radar chip |
| CN112419664A (en) * | 2020-09-22 | 2021-02-26 | 上海杰擎智能科技有限公司 | Anti-collision early warning system |
| CN112859067A (en) * | 2020-12-31 | 2021-05-28 | 杭州电子科技大学 | Dynamic target monitoring method based on millimeter wave radar |
| CN112859067B (en) * | 2020-12-31 | 2024-01-16 | 杭州电子科技大学 | Dynamic target monitoring method based on millimeter wave radar |
| CN113204005A (en) * | 2021-05-07 | 2021-08-03 | 北京理工大学 | Method and device for improving distance resolving precision of frequency modulated continuous wave laser radar |
| CN113204005B (en) * | 2021-05-07 | 2023-05-02 | 北京理工大学 | Method and device for improving distance dissociation calculation precision of frequency modulation continuous wave laser radar |
| CN115469273A (en) * | 2021-06-11 | 2022-12-13 | 宁波飞芯电子科技有限公司 | Method for improving signal-to-noise ratio |
| CN113640786B (en) * | 2021-08-10 | 2023-01-31 | 矽典微电子(上海)有限公司 | High-precision FMCW ranging method, device and storage medium |
| CN113640786A (en) * | 2021-08-10 | 2021-11-12 | 矽典微电子(上海)有限公司 | High-precision FMCW ranging method, device and storage medium |
| CN113534145A (en) * | 2021-09-16 | 2021-10-22 | 北京安达维尔航空设备有限公司 | Altimeter height measurement method and system based on linear frequency modulation continuous wave system |
| CN114578363A (en) * | 2022-03-04 | 2022-06-03 | 苏州优达斯汽车科技有限公司 | Ultrasonic detection system and method |
| CN114578363B (en) * | 2022-03-04 | 2023-10-13 | 苏州优达斯汽车科技有限公司 | Ultrasonic detection system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107907878B (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107907878A (en) | The method that high accuracy obtains fmcw radar distance measure | |
| CN107861117B (en) | Multi-target parameter measuring method suitable for continuous wave perimeter surveillance radar | |
| CN102680948B (en) | Method for estimating modulation frequency and starting frequency of linear frequency-modulated signal | |
| JP4988332B2 (en) | Techniques for incoherent integration of targets with vague velocities. | |
| CN102508206B (en) | Linear frequency modulation (FM) signal parameter estimation method based on small-wave-packet denoising and power spectral entropy | |
| CN104297740B (en) | Method for estimating Doppler spectrum of radar target on basis of phase analysis | |
| CN106405541A (en) | Fully-coherent continuous-wave Doppler radar and distance measurement and velocity measurement method thereof | |
| CN104502898B (en) | The maneuvering target method for parameter estimation that modified R FT and amendment MDCFT are combined | |
| CN105229431A (en) | The level gauging that the distance with improvement is determined | |
| CN105738889B (en) | A kind of CW with frequency modulation tests the speed distance-finding method | |
| CN103823216B (en) | A kind of frequency modulated continuous wave radar system distance-finding method | |
| CN104239683B (en) | Resolving distance-velocity ambiguity method on basis of changing signal rate | |
| CN103777199A (en) | Distance measuring method of frequency modulated continuous wave radar system | |
| CN112965037B (en) | Radar signal waveform uncertainty test system | |
| CN107255814A (en) | A kind of radar target detection method based on LFMSK waveforms | |
| CN103675758A (en) | Method for estimating cycle slope and starting frequency of hyperbolic frequency modulated signals | |
| CN105022036B (en) | Wind profile radar wind speed assay method | |
| CN104122538A (en) | Method for determining noise power of wind profile radar | |
| CN106443614B (en) | Hypersonic target measuring acceleration method | |
| CN110109089B (en) | Method for improving distance measurement accuracy of linear frequency modulation continuous wave detection system | |
| CN103744066A (en) | Optimizing method for digital orthogonal phase identifying and matched filtering | |
| CN105629224A (en) | Frequency-modulated continuous-wave radar high-precision distance measuring method | |
| CN101957158A (en) | Rapid measuring method of scalar miss distance, based on constant envelope chirp signal module | |
| CN101702617B (en) | High-precision +/-180 DEG digital phase distinguishing method and applying device thereof | |
| CN108072868A (en) | A kind of precision distance measurement method based on the refinement of fmcw radar signal frequency |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |