CN108490416B - A kind of high dynamic carrier phase tracking method of pseudo-code modulation continuous wave radar echo - Google Patents

A kind of high dynamic carrier phase tracking method of pseudo-code modulation continuous wave radar echo Download PDF

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CN108490416B
CN108490416B CN201810489306.6A CN201810489306A CN108490416B CN 108490416 B CN108490416 B CN 108490416B CN 201810489306 A CN201810489306 A CN 201810489306A CN 108490416 B CN108490416 B CN 108490416B
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frequency
locking ring
lock
phase
loop
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CN108490416A (en
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崔嵬
王烽宇
吴嗣亮
向锦志
沈清
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Beijing Institute of Technology BIT
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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
    • 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)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a kind of high dynamic carrier phase tracking methods of pseudo-code modulation continuous wave radar echo, the principle of this method is using frequency locking ring parallel connection phaselocked loop, the frequency locking ring is used to carry out carrier frequency tracking to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar, to eliminate the high-order dynamic component in high dynamic carrier signal；And locking decision is carried out to frequency locking ring, utilize the locking decision result of frequency locking ring, locking decision is carried out to phaselocked loop in the case where frequency locking ring locking, make phase-locked loop operation under lower dynamic, to realize that the echo digital medium-frequency signal to pseudo-code modulation continuous wave radar carries out the high precision tracking of carrier phase.This method, which gives full play to frequency locking ring, has the characteristics that good dynamic tracking capabilities, phaselocked loop have good carrier phase tracking precision, can effectively solve the problem that high dynamic, the precision tracking problem of non-stationary carrier signal become under rail causes the serious non-stationary of detectable signal in the high motor-driven posture adjustment of carrier.

Description

A kind of high dynamic carrier phase tracking method of pseudo-code modulation continuous wave radar echo
Technical field
The present invention relates to microwave radar field of measuring technique, and in particular to a kind of height of pseudo-code modulation continuous wave radar echo Dynamic carrier phase-tracking method.
Background technique
Under high dynamic environment, due to the time variation of Doppler frequency shift, tracking tool is carried out to carrier phase using phaselocked loop There are higher Phase Tracking precision, but the deficiency that phaselocked loop is weak there are performance of dynamic tracking；Frequency locking ring has preferable Doppler Frequency dynamic tracking performance, but the deficiency weak there are Phase Tracking performance.To solve this contradiction, Deng Xiaodong and Sun Wu in 2010 It is mentioned in " modern defense technology " the 137-141 pages of the phase " carrier tracking loop designs based on FLL+PLL " delivered of volume 38 the 4th Gone out a kind of carrier signal tracking loop that frequency locking ring is combined with phaselocked loop, first by frequency locking ring to carrier frequency carry out with Track switches to phaselocked loop and tracks to carrier phase after the output of frequency locking ring wave filter is less than certain threshold value, when phaselocked loop is filtered After the output of wave device is greater than certain threshold value, back switches to frequency locking ring and carry out frequency-tracking.This method improves to a certain extent Dynamic tracking capabilities and carrier phase tracking precision, but on the one hand due to frequency locking ring and phaselocked loop frequent switching loop structure and ginseng Number changes and generates biggish transient error, and on the other hand this loop structure continues under existing scene in dynamic stress It will work long hours in monolock frequency ring status, and cause the reduction of carrier phase tracking performance.
It can be seen that existing method can not solve the carrier phase precision tracking under high dynamic, low signal-to-noise ratio.
Summary of the invention
In view of this, the present invention provides a kind of high dynamic carrier phase tracking sides of pseudo-code modulation continuous wave radar echo Method can effectively improve the carrier phase tracking essence under high dynamic, low signal-to-noise ratio while keeping loop performance of dynamic tracking Degree.
In order to achieve the above objectives, the technical solution of the present invention is as follows: a kind of high dynamic of pseudo-code modulation continuous wave radar echo Carrier phase tracking method, using frequency locking ring parallel connection phaselocked loop, frequency locking ring is used for the number of echoes to pseudo-code modulation continuous wave radar Word intermediate-freuqncy signal carry out carrier frequency tracking, phaselocked loop be used for pseudo-code modulation continuous wave radar echo digital medium-frequency signal into Row carrier phase tracking.
Frequency locking ring executes following steps:
The Doppler frequency for obtaining prediction is carrying out number just to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar Down-converted and integral removing processing are handed over, frequency locking ring integral is obtained and removes result.
It is integrated using frequency locking ring and removes result progress frequency identification；Frequency identification result enters frequency-locked loop filter, obtains Obtain frequency-locked loop filter result.
The fixation of frequency-locked loop filter result and the Doppler frequency of prediction, frequency locking ring carrier wave numerically-controlled oscillator NCO Frequency word biasing controls frequency locking ring carrier wave NCO after being added, and generates for the orthogonal each other of frequency locking ring digital quadrature down conversion processing I, Q two-way sinusoidal signal.
Increase frequency locking ring locking decision module in frequency locking ring, frequency locking ring locking decision module is used for, to frequency identification result It makes decisions and the counting of frequency locking ring lock counter is set, the specific steps are as follows:
It is unlocked that frequency locking ring original state, which is arranged,；Frequency locking ring lock-in threshold and frequency locking ring loose lock threshold, frequency locking ring are set Lock-in threshold is less than frequency locking ring loose lock threshold, when frequency identification result is less than frequency locking ring lock-in threshold, frequency locking ring lock count Device adds 1；When frequency identification result is greater than frequency locking ring loose lock threshold, frequency locking ring lock counter subtracts 1；Frequency locking ring lock counter With preset initial value MinitIt starts counting, when the count of frequency locking ring lock counter is to preset frequency locking ring count upper-limit MlockWhen, judgement frequency locking ring locking；When the count value of frequency locking ring lock counter is decremented to preset frequency locking ring count lower limit MunlockWhen, adjudicate frequency locking ring losing lock.
Phaselocked loop executes following steps:
Carrier wave removing and code removing are carried out to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar, then accumulated It distinguishes and removes, obtain phaselocked loop integral and remove result.
Phaselocked loop is integrated and removes result progress phase identification；Phase identification result enters cycle of phase-locked loop filter, obtains Obtain loop filtering result.
Phase-locked loop filter result and the Doppler frequency of prediction, frequency-locked loop filter result, phaselocked loop carrier wave NCO consolidate Determine control phaselocked loop carrier wave NCO after frequency word biasing is added, generation is removed orthogonal each other for the removing of phaselocked loop carrier wave and code I, Q two-way sinusoidal signal.
Increase phase lock loop locks judging module in phaselocked loop, phase lock loop locks judging module is used for, and obtains frequency locking ring locking The court verdict of judging module makes decisions phase identification result and locking phase is arranged after court verdict is that frequency locking ring locks Ring lock counter counts, the specific steps are as follows:
It is unlocked that phaselocked loop original state, which is arranged,；Phase lock loop locks thresholding and phaselocked loop loose lock threshold, phaselocked loop are set Lock-in threshold is less than phaselocked loop loose lock threshold, and when phase identification result is less than phase lock loop locks thresholding, phase lock loop locks are counted Device adds 1, and when phase identification result is greater than phaselocked loop loose lock threshold, phase lock loop locks counter subtracts 1；Phase lock loop locks counter With preset initial value NinitIt starts counting, when the count of phase lock loop locks counter is to preset phaselocked loop count upper-limit NlockWhen, adjudicate phase lock loop locks；When the count value of phase lock loop locks counter is decremented to preset locking phase ring count lower limit NunlockWhen, adjudicate phaselocked loop losing lock.
Further, it is integrated using frequency locking ring and removes result progress frequency identification, specifically: frequency locking ring uses cross product, point Product four-quadrant arc tangent algorithm removes result using integral and carries out frequency identification.
Further, frequency-locked loop filter, specifically: frequency-locked loop filter is designed using least square criterion And determine the loop bandwidth of frequency-locked loop filter.
Further, phaselocked loop is integrated and removes result progress phase identification, specifically: phaselocked loop passes through four-quadrant anyway It cuts identification algorithm and removing result progress phase identification is integrated to phaselocked loop.
Further, cycle of phase-locked loop filter, specifically: using least square criterion design phase-locked loop filtering Device and the loop bandwidth for determining phase-locked loop filter.
The utility model has the advantages that
1) the high dynamic carrier phase tracking method of a kind of pseudo-code modulation continuous wave radar echo proposed by the present invention, uses Frequency locking ring tracks the carrier frequency of the echo-signal of pseudo-code modulation continuous wave radar, and the high-order eliminated in high dynamic carrier signal is dynamic State component, and by parallel with phaselocked loop, make phase-locked loop operation under lower dynamic, continuous wave thunder is modulated to pseudo-code to realize The high precision tracking of the carrier phase of the echo reached.This method gives full play to frequency locking ring with good dynamic tracking capabilities, lock Phase ring has the characteristics that good carrier phase tracking precision, can effectively solve the problem that becoming rail in the high motor-driven posture adjustment of carrier causes to detect The precision tracking problem of high dynamic, non-stationary carrier signal under the serious non-stationary of signal.
2) loop tracks are removed and then carried out using first integral in the frequency locking ring in the present invention and the track loop of phaselocked loop Process flow, processing data transfer rate is reduced, so that hardware resource can effectively save circuit hardware resource with time-sharing multiplex.
3) frequency locking ring provided in the present invention and phaselocked loop use parallel working method, compared to frequency locking ring and phaselocked loop point When the loop structure that switches, this kind of parallel working method effectively prevent causing when loop frequent switching filter value it is discontinuous, A possibility that introducing measurement error or even losing lock.
Detailed description of the invention
Fig. 1 is the high dynamic carrier phase tracking method that a kind of pseudo-code proposed by the present invention modulates continuous wave radar echo Functional block diagram.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of high dynamic carrier phase tracking method of pseudo-code modulation continuous wave radar echo, this method Principle be structure using frequency locking ring parallel connection phaselocked loop, frequency locking ring is used in the echo number to pseudo-code modulation continuous wave radar Frequency signal carries out carrier frequency tracking, to eliminate the high-order dynamic component in high dynamic carrier signal, and by with phaselocked loop Parallel connection makes phase-locked loop operation under lower dynamic, to realize the echo digital medium-frequency signal to pseudo-code modulation continuous wave radar Carry out the high precision tracking of carrier phase.This method gives full play to frequency locking ring to be had with good dynamic tracking capabilities, phaselocked loop There is the characteristics of good carrier phase tracking precision, can effectively solve the problem that becoming rail in the high motor-driven posture adjustment of carrier causes detectable signal tight High dynamic, the precision tracking problem of non-stationary carrier signal under weight non-stationary.
Embodiment 1
Pseudo-code provided by the invention modulates continuous wave radar echo high dynamic carrier phase tracking method, simultaneously using frequency locking ring Join phaselocked loop, as shown in Figure 1, frequency locking ring is used to carry out carrier frequency to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar Rate tracking, phaselocked loop are used to carry out carrier phase tracking to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar；
Wherein frequency locking ring executes following steps:
1) Doppler frequency for obtaining prediction carries out number to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar Quadrature frequency conversion processing and integral removing processing, obtain frequency locking ring integral and remove result；
I(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]cosθk, k=1,2 ... (1)
Q(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]sinθk, k=1,2 ... (2)
Wherein I (k), Q (k) are respectively same phase, orthogonal two-way integral removing result；K is the discrete time；
For the amplitude of echo digital medium-frequency signal；P is the power of echo digital medium-frequency signal；
Δ τ (k) is code phase residual error；
R () is the ideal two level auto-correlation function of pseudo noise code；
Δωd(k)=2 π Δ fd·TSFor the angular frequency margin of error, Δ fdResidual error is estimated for carrier Doppler frequency；TSFor The time interval of sampling；
N is the integral points that integral is removed；
For phase error, Δ φ is initial phase evaluated error.
2) it is integrated using frequency locking ring and removes result progress frequency identification.
In the present embodiment, frequency locking ring removes result using integral using cross product, dot product four-quadrant arc tangent algorithm and carries out frequency Rate identifies.
Cross product calculation formula is as follows:
Cross=Q (k) I (k-1)-I (k) Q (k-1) ≈ Asin (2 π Δ fd·N·Ts) (3)
Dot product calculation formula is as follows:
Dot=I (k) I (k-1)+Q (k) Q (k-1) ≈ Acos (2 π Δ fd·N·Ts) (4)
Wherein Δ fdResidual error is estimated for carrier Doppler frequency；
Frequency locking ring frequency identification algorithm is as follows:
3) frequency identification result enters frequency-locked loop filter, obtains frequency-locked loop filter result.
In the present embodiment, loop filter is designed using least square criterion and determines loop bandwidth.Single order is locked Frequency ring, optimal loop bandwidth BL1:
Wherein, n is loop order, chooses empirical value；
α is loop parameter,ξ is loop parameter damped coefficient；
T=NTsFor loop renewal time；
f(n)For the n order derivative of f, f is carrier Doppler frequency caused by target dynamic；
C/N0For carrier to noise power ratio, C is the power of carrier wave, N0For the power of noise；
F is constant value, F=2 in the present embodiment.
4) frequency-locked loop filter result and the Doppler frequency of prediction, frequency locking ring carrier wave numerically-controlled oscillator NCO consolidate Determine to control frequency locking ring carrier wave NCO after frequency word biasing is added, generates being mutually positive for the processing of frequency locking ring digital quadrature down conversion I, Q two-way sinusoidal signal of friendship；
5) increase frequency locking ring locking decision module in frequency locking ring, frequency locking ring locking decision module is used for, and is identified to frequency and is tied Fruit makes decisions and the counting of frequency locking ring lock counter is arranged, the specific steps are as follows:
It is unlocked that frequency locking ring original state, which is arranged,；Frequency locking ring lock-in threshold and frequency locking ring loose lock threshold, frequency locking ring are set Lock-in threshold is less than frequency locking ring loose lock threshold, when frequency identification result is less than frequency locking ring lock-in threshold, frequency locking ring lock count Device adds 1；When frequency identification result is greater than frequency locking ring loose lock threshold, frequency locking ring lock counter subtracts 1；Frequency locking ring lock counter With preset initial value MinitIt starts counting, when the count of frequency locking ring lock counter is to preset frequency locking ring count upper-limit MlockWhen, judgement frequency locking ring locking；When the count value of frequency locking ring lock counter is decremented to preset frequency locking ring count lower limit MunlockWhen, adjudicate frequency locking ring losing lock.
Phaselocked loop executes following steps:
A, carrier wave removing is carried out to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar and code is removed, then carried out Integral removing obtains phaselocked loop integral and removes as a result, phaselocked loop integral removing result is as follows in the present embodiment:
I(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]cosθk, k=1,2 ... (7)
Q(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]sinθk, k=1,2 ... (8)
B, phaselocked loop is integrated and removes result progress phase identification.
In the present embodiment, removing result is integrated to phaselocked loop, phase identification is carried out by four-quadrant arc tangent identification algorithm, It is as follows to obtain amount of phase error Δ θ (k):
epk=atan2 (Q (k), I (k))=Δ θ (k) (9)
C, phase identification result enters cycle of phase-locked loop filter, obtains loop filtering result.
In the present embodiment, phase identification result enters cycle of phase-locked loop filter, is designed using least square criterion Loop filter simultaneously determines loop bandwidth.To phaselocked loop, optimal loop bandwidth BL2:
Wherein, n is loop order, chooses empirical value；
α is loop parameter,ξ is loop parameter damped coefficient；
ω is angular frequency, the n order derivative of ω
T=NTsFor loop renewal time；
C/N0For carrier to noise power ratio, C is the power of carrier wave, N0For the power of noise.
D, phase-locked loop filter result and the Doppler frequency of prediction, frequency-locked loop filter result, phaselocked loop carrier wave NCO The biasing of fixed frequency word controls phaselocked loop carrier wave NCO after being added, generation is positive for the removing of phaselocked loop carrier wave and the mutual of code removing I, Q two-way sinusoidal signal of friendship.
E, increase phase lock loop locks judging module in phaselocked loop, phase lock loop locks judging module is used for, and obtains frequency locking ring lock The court verdict for determining judging module makes decisions phase identification result and lock is arranged after court verdict is that frequency locking ring locks Phase ring lock counter counts, the specific steps are as follows:
It is unlocked that phaselocked loop original state, which is arranged,；Phase lock loop locks thresholding and phaselocked loop loose lock threshold, phaselocked loop are set Lock-in threshold is less than phaselocked loop loose lock threshold, and when phase identification result is less than phase lock loop locks thresholding, phase lock loop locks are counted Device adds 1, and when phase identification result is greater than phaselocked loop loose lock threshold, phase lock loop locks counter subtracts 1；Phase lock loop locks counter With preset initial value NinitIt starts counting, when the count of phase lock loop locks counter is to preset phaselocked loop count upper-limit NlockWhen, adjudicate phase lock loop locks；When the count value of phase lock loop locks counter is decremented to preset locking phase ring count lower limit NunlockWhen, adjudicate phaselocked loop losing lock.
Embodiment 2
In the present embodiment, consider that pseudo-code modulation continuous wave radar echo IF carrier frequency is 16.384MHz, pseudo- bit rate 8Mbps, PN-code capture 8191, sample frequency fs=1/Ts=65.536MHz, carrier-to-noise ratio C/N0=38dBHz.Echo Doppler Frequency is 10.25kHz, and Doppler frequency predicts error delta fd=250Hz, Doppler frequency caused by acceleration stress is to the time First derivative f(1)=500Hz/s, second dervative f of the Doppler frequency caused by acceleration stress to the time(2)= 9.8Hz/s2。
1) frequency locking ring carries out pseudo-code modulation continuous wave radar echo digital medium-frequency signal using the Doppler frequency of prediction Digital quadrature down conversion, integral are removed, and integral cycle of removing is T=NTs=1ms obtains integral and removes result:
I(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]cosθk, k=1,2 ..., (11)
Q(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]sinθk, k=1,2 ..., (12)
2) result input dot product, the cross product four-quadrant arc tangent frequency discriminator that I (k), Q (k) two-way integral are removed carry out frequency Identify, obtains identification result efk:
3) frequency discrimination result enters frequency-locked loop filter, and frequency locking ring uses second-order loop, loop filter expression formula are as follows:
Wherein K1=Kd1·Kv1For frequency discriminator gain Kd1With NCO gain Kv1Product, K in this exampled1=1, Kv1=1；Respective filter damped coefficient.ωFFor the natural angular frequency of frequency locking ring loop, and have
B in formulaL1It is equivalent frequency locking ring can be calculated by optimal loop bandwidth calculation formula (6) for frequency locking ring loop bandwidth Noise bandwidth BL1=5.7Hz.
4) after loop filtering result is added with the carrier Doppler frequency of capture prediction, the biasing of carrier wave NCO fixed frequency word It controls frequency locking ring carrier wave NCO and generates I, Q two-way sinusoidal signal.
5) frequency locking ring lock counter initial value M is setinit=512, lock-in threshold is set as 100Hz, and loose lock threshold is set as 250Hz.Make decisions to frequency identification result: when identification result is less than 100Hz, frequency locking ring lock counter adds 1；Work as filter When wave number is greater than 250Hz, frequency locking ring lock counter subtracts 1.When frequency locking ring lock counter value reaches MlockWhen=1023, judgement Frequency locking ring locking；When frequency locking ring lock counter value reaches MunlockWhen=0, frequency locking ring losing lock is adjudicated.
6) simultaneously, phaselocked loop carries out carrier wave removing to radar return IF input signals, code is removed, and is then integrated It removes, integrates cycle of removing T=NTs=1ms obtains integral and removes result:
I(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]cosθk (16)
Q(k)≈A·R[Δτ(k)]·sinc[Δωd(k)·N/2]sinθk (17)
7) phaselocked loop is integrated and removes result by the progress phase identification of four-quadrant arc tangent identification algorithm, obtain phase mistake Residual quantity epkIt is as follows:
epk=atan2 (Q (k), I (k))=Δ θ (k) (18)
8) phase identification result enters phase-locked loop filter, and phaselocked loop uses three rank track loops, loop filter table Up to formula are as follows:
Wherein K2=Kd2·Kv2For frequency discriminator gain Kd2With NCO gain Kv2Product, K in this exampled2=1, Kv2=1；ωP For the natural frequency of loop, and have
ωP=1.2BL2 (20)
In formula, BL2For PLL loop bandwidth.By optimal loop bandwidth calculation formula (10) finally phaselocked loop is equivalent makes an uproar Sound bandwidth BL2=42.2Hz.
9) cycle of phase-locked loop filter result and the carrier Doppler frequency of prediction, frequency locking ring loop filtering result, carrier wave NCO The biasing of fixed frequency word controls phaselocked loop carrier wave NCO after being added, and generates I, Q two-way sinusoidal signal orthogonal each other and carries out carrier wave stripping From.
10) phase lock loop locks counter initial value N is setinit=512, lock-in threshold is set as 20 °, and loose lock threshold is set as 40°.After frequency locking ring locking, start to make decisions phaselocked loop phase discriminator phase identification result: if phase identification result is less than 20 °, phase lock loop locks counter adds 1；If phase identification result is greater than 40 °, phase lock loop locks counter subtracts 1.When phaselocked loop is locked Counter value reaches Nlock=1023, adjudicate phase lock loop locks；When phase lock loop locks Counter Value reaches NunlockWhen=0, sentence Certainly phaselocked loop losing lock.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims (5)

1. a kind of high dynamic carrier phase tracking method of pseudo-code modulation continuous wave radar echo, which is characterized in that use frequency locking Ring parallel connection phaselocked loop, the frequency locking ring are used to carry out carrier wave to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar Frequency-tracking, the phaselocked loop are used to carry out carrier phase to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar Tracking；
The frequency locking ring executes following steps:
The Doppler frequency for obtaining prediction is carrying out number just to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar Down-converted and integral removing processing are handed over, frequency locking ring integral is obtained and removes result；
It is integrated using the frequency locking ring and removes result progress frequency identification；Frequency identification result enters frequency-locked loop filter, obtains Obtain frequency-locked loop filter result；
The Doppler frequency of the frequency-locked loop filter result and the prediction, frequency locking ring carrier wave numerically-controlled oscillator NCO The biasing of fixed frequency word controls frequency locking ring carrier wave NCO after being added, and generates for the processing of frequency locking ring digital quadrature down conversion each other Orthogonal I, Q two-way sinusoidal signal；
Increase frequency locking ring locking decision module in the frequency locking ring, the frequency locking ring locking decision module is used to reflect to the frequency Other result makes decisions and the counting of frequency locking ring lock counter is arranged, the specific steps are as follows:
It is unlocked that the original state of the frequency locking ring, which is arranged,；Frequency locking ring lock-in threshold and frequency locking ring loose lock threshold, frequency locking are set Ring lock-in threshold is less than frequency locking ring loose lock threshold, when the frequency identification result is less than the frequency locking ring lock-in threshold, frequency locking Ring lock counter adds 1；When the frequency identification result is greater than the frequency locking ring loose lock threshold, frequency locking ring lock counter subtracts 1；The frequency locking ring lock counter is with preset initial value MinitIt starts counting, when the count value of the frequency locking ring lock counter It is incremented to preset frequency locking ring count upper-limit MlockWhen, adjudicate the frequency locking ring locking；When the counting of frequency locking ring lock counter Value is decremented to preset frequency locking ring count lower limit MunlockWhen, adjudicate the frequency locking ring losing lock；
The phaselocked loop executes following steps:
Carrier wave removing and code removing are carried out to the echo digital medium-frequency signal of pseudo-code modulation continuous wave radar, then accumulated It distinguishes and removes, obtain phaselocked loop integral and remove result；
The phaselocked loop is integrated and removes result progress phase identification；Phase identification result enters cycle of phase-locked loop filter, obtains Obtain loop filtering result；
The phase-locked loop filter result and the Doppler frequency of the prediction, the frequency-locked loop filter result, phaselocked loop carry Control phaselocked loop carrier wave NCO after the fixed frequency word biasing of wave NCO is added, generation are removed for the removing of phaselocked loop carrier wave and code I, Q two-way sinusoidal signal orthogonal each other；
Increase phase lock loop locks judging module in the phaselocked loop, the phase lock loop locks judging module is used for, and obtains the lock The court verdict of frequency ring locking decision module, when court verdict be the frequency locking ring lock after, to the phase identification result into Row adjudicates and the counting of phase lock loop locks counter is arranged, the specific steps are as follows:
It is unlocked that the original state of the phaselocked loop, which is arranged,；Phase lock loop locks thresholding and phaselocked loop loose lock threshold, locking phase are set Ring lock-in threshold is less than phaselocked loop loose lock threshold, when the phase identification result is less than the phase lock loop locks thresholding, locking phase Ring lock counter adds 1, and when the phase identification result is greater than the phaselocked loop loose lock threshold, phase lock loop locks counter subtracts 1；The phase lock loop locks counter is with preset initial value NinitIt starts counting, when the count value of the phase lock loop locks counter It is incremented to preset phaselocked loop count upper-limit NlockWhen, adjudicate the phase lock loop locks；When the counting of phase lock loop locks counter Value is decremented to preset locking phase ring count lower limit NunlockWhen, adjudicate the phaselocked loop losing lock.
2. the method as described in claim 1, which is characterized in that described integrated using the frequency locking ring removes result progress frequency Identify, specifically: frequency locking ring removes result using the integral using cross product, dot product four-quadrant arc tangent algorithm and carries out frequency mirror Not.
3. method according to claim 2, which is characterized in that the frequency-locked loop filter, specifically:
The frequency-locked loop filter is designed using least square criterion and determines the loop bandwidth of frequency-locked loop filter.
4. method as claimed in claim 1,2 or 3, which is characterized in that described integrate to the phaselocked loop removes result progress Phase identifies, specifically: phaselocked loop integrates the phaselocked loop by four-quadrant arc tangent identification algorithm and removes result progress phase Position identifies.
5. method as claimed in claim 4, which is characterized in that the cycle of phase-locked loop filter, specifically:
The phase-locked loop filter is designed using least square criterion and determines the loop bandwidth of phase-locked loop filter.
CN201810489306.6A 2018-05-21 2018-05-21 A kind of high dynamic carrier phase tracking method of pseudo-code modulation continuous wave radar echo Expired - Fee Related CN108490416B (en)

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