CN109581320A - A kind of spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal - Google Patents
A kind of spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal Download PDFInfo
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- CN109581320A CN109581320A CN201910070028.5A CN201910070028A CN109581320A CN 109581320 A CN109581320 A CN 109581320A CN 201910070028 A CN201910070028 A CN 201910070028A CN 109581320 A CN109581320 A CN 109581320A
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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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Abstract
A kind of spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal, can solve that existing method is cumbersome, the big technical problem of operand.S100, intermediate-freuqncy signal is sampled and does FFT bigness scale；S200, practical spectral peak location is determined according to FFT spectrum；S300, by post-sampling, building underdetermined equation, do in selected frequency range the iterative process that inner product compares, capture value of frequency point corresponding to the actual spectrum peak value of intermediate-freuqncy signal.The processing method that the spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal of the invention passes through further investigation existing millimetre-wave radar rear end intermediate-freuqncy signal, a part of compressive sensing theory is introduced into the analysis of frequency spectrum spectral peak measurement problem, underdetermined equation is constructed first, a small amount of inner product is calculated again, and final realize quickly captures frequency corresponding to the actual spectrum peak value of intermediate-freuqncy signal with low computation complexity.
Description
Technical field
The present invention relates to radar engineerings and signal processing technology field, and in particular to a kind of millimetre-wave radar rear end intermediate frequency letter
Number spectral peak method for fast searching.
Background technique
It is well known that the measurement accuracy of continuous millimetre-wave radar mainly receives and dispatches hardware performance with system and back end signal is handled
Algorithm is related.Hardware aspect will lead to continuous millimetre-wave radar measurement essence if receiving end is insufficient to the processing capability in real time of signal
Degree is limited；In terms of algorithm, due to being usually unable to control to spectrum leakage caused by the truncation sampling of intermediate-freuqncy signal non-integer-period, cut
Weak fence effect often becomes the key for determining computational accuracy.Accurately to obtain spectrum information, currently used method has
The frequency spectrum refinements technologies such as ZoomFFT, Chirp transform, FFT combination DTFT.And in fact, being surveyed in the continuous millimetre-wave radar of application
Away from, test the speed when, only need to accurately capture the spectral peak value of frequency point of intermediate-freuqncy signal, can be obtained the information such as speed, the distance of target.It is based on
This measuring characteristic of continuous wave radar, set forth herein a kind of Fast search techniques for directly capturing spectrum peak frequency point, can be real
Now high-acruracy survey of the continuous millimetre-wave radar under low computation complexity.Technology introducing portion compressed sensing (CS) principle,
Using the frequency spectrum bigness scale result (FFT spectrum) to intermediate-freuqncy signal as priori knowledge, by post-sampling, building underdetermined equation, compare
The continuous approaching to reality peak value value of frequency point of the iterative calculation of inner product size.
CS theory is derived from field of signal processing, and basic principle is as follows:
Firstly, carrying out low dimension projective to original signal.Assuming that original signal is denoted as β, that is, have
Φ β=y (1)
Wherein Φ is known as observing matrix, its usual line number is much smaller than columns；Y is observed result, and length is much smaller than β.
Secondly, sparse transformation is introduced, to original signal rarefaction representation.Assuming that sparse transformation matrix is denoted as Ψ, then have
Φ Ψ α=y (2)
Wherein α is rarefaction representation of the β in the domain Ψ.In general, Φ and Ψ need to have irrelevance, Φ Ψ need to meet
Away from restrictive (RIP).
Finally, solving optimization problem using recovery algorithms (such as OMP, BP)
To realize the Accurate Reconstruction of original signal
By taking OMP as an example, calculating process can be concluded simply are as follows: by by residual error (residual error, that is, observed result when iteration for the first time)
Inner product is done with each column of observing matrix to determine the corresponding position (nonzero element of sparse signal i.e. to be reconstructed of maximal projection coefficient
Position), it reapplies this projection coefficient of least-squares calculation and updates residual error, iteration is up to residual error is less than set repeatedly
Stop calculating when threshold value, completes reconstruct.
By above-mentioned CS basic framework in conjunction with continuous millimetre-wave radar ranging and range rate principle, a kind of underdetermined equation meter can be constructed
Model is calculated, is analyzed as follows:
First, it is assumed that time domain sequences and its discrete spectrum of the intermediate-freuqncy signal after A/D is sampled are respectively b, x, then
Ax=b (5)
Wherein A is Fourier inversion base (i.e. IFFT yl).Be apparent from, it is muting ideally, x is usually one dilute
Dredge column vector.And simultaneously, the Teoplitz of IFFT base enables it to meet RIP condition indirectly, therefore can be regarded as observation square
Battle array, constructs following underdetermined equation
ApX=bp (6)
Wherein, ApBy randomly selecting gained, b by row to ApThen generated by making corresponding extract to b.Different from complete CS body
System, by continuous wave radar ranging and range rate principle it is found that for (6), does not need really to reconstruct x, and only need to be by comparing bpAnd Ap
The inner product result sizes of the first half column find in x corresponding maximum element position, can obtain intermediate-freuqncy signal
Spectral peak frequency point, to complete the measuring and calculating to information such as each target range, speed.
Although the building and analysis of above-mentioned underdetermined equation model, premised on x is sparse, many experiments show when x is non-dilute
When dredging (when the frequency spectrum Noise substrate of such as intermediate-freuqncy signal), which can accurately capture spectrum peak institute still with high probability
Corresponding frequency point.It is not that proper CS calculates (not requiring that x is reconstructed) that this, which is primarily due to it, simply by inner product
Compare the position to determine maximum element in x, therefore, whether x itself is sparse not to constitute substantial influence to the model, even if
X is non-sparse also without additionally introducing sparse transformation.
Nevertheless, there are still two when underdetermined equation model is really applied to actual continuous-wave radar system
Prominent question: the spectral resolution that 1. can cover intermediate-freuqncy signal physics spectral peak frequency point can not be predicted in advance (accurately captures signal
Sampling number needed for peak value frequency point position can not predefine)；2. needing b in (6)pWith ApThe first half column inner product one by one,
Operand is big.
Summary of the invention
A kind of spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal proposed by the present invention, can solve existing
Method is cumbersome, the big technical problem of operand.
To achieve the above object, the invention adopts the following technical scheme:
A kind of spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal, comprising:
S100, intermediate-freuqncy signal is sampled and does FFT bigness scale；
S200, practical spectral peak location is determined according to FFT spectrum；
S300, by post-sampling, building underdetermined equation, do in selected frequency range the iterative process that inner product compares,
Capture value of frequency point corresponding to the actual spectrum peak value of intermediate-freuqncy signal.
It is further explained below:
On the basis of constructing underdetermined equation, using the substep iterative strategy of " from thick to thin ", with CW radar to single goal
For testing the speed, the specific steps are as follows:
1. FFT bigness scale.
Carrying out N point sampling to intermediate-freuqncy signal, (note sample frequency is fs) and N point FFT, " rough " frequency spectrum is obtained, before finding it
Half section of crest frequency (is denoted as fm0), the peak value value of frequency point of initialization algorithm (is denoted asEven) and search frequency band
Range (is denoted as S, even S=(fm0-fs/N,fm0+fs/N))。
2. i-th (i=1,2,3....) iteration of spectrum peak position updates.
(i) retain sequence to arrange, intermediate-freuqncy signal is continued to post-sampling and constructs underdetermined equation.
Assuming that reaching N to post-sampling to total pointsi, then constructed underdetermined equation is represented by
(ii) using S as prior information, inner product is done in the frequency range and is compared.
If in new frequency spectrum resolution ratio fs/NiUnderPoint is uncovered, then ApIn only take corresponding to adjacent in S frequency range
Two column (are assumed to be K1、K2Column, are denoted as A respectivelypK1、ApK2) and bpInner product selects modulus value the greater to retain (being denoted as Λ), i.e.,
Λ=max (| < ApK1,bp>|,|<ApK2,bp>|) (8)
If in new frequency spectrum resolution ratio fs/NiUnderPoint is covered to, then ApIt is middle to there are 3 adjacent column participation inner products to compare,
Assuming that being denoted as ApK1、ApK2、ApK3, then
Λ=max (| < ApK1,bp>|,|<ApK2,bp>|,|<ApK3,bp>|) (9)
(iii) energy barycenter correction principle is introduced, is updated
(f is denoted as with frequency point corresponding to ΛΛ, energy is considered Λ at the point2) centered on, take fΛ-fs/Ni、fΛ、fΛ+
fs/Ni3 points are made energy barycenter correction, and the value of frequency point after note correction is fΛi, updateFor
In addition, sampling total points Ni=2lWhen N (l=1,2,3....), updating S is
S=(fΛ-fs/Ni,fΛ+fs/Ni) (11)
Increasing with iterative steps as a result, the peak value frequency point which calculatesThe true of intermediate-freuqncy signal will constantly be approached
Frequency corresponding to real spectral peak.
As shown from the above technical solution, the spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal of the invention is logical
The processing method for furtheing investigate existing millimetre-wave radar rear end intermediate-freuqncy signal is crossed, a part of compressive sensing theory is introduced into frequency spectrum
Spectral peak measures in the analysis of problem, first building underdetermined equation, then calculates a small amount of inner product, and final realization is fast with low computation complexity
Speed captures frequency corresponding to the actual spectrum peak value of intermediate-freuqncy signal.
The low dimension projective theory of CS is applied to spectrum measurement field by the present invention, forms a kind of Digital Implementation rapidly and efficiently
Scheme, and finally test the speed in millimetre-wave radar, realize the measurement method in ranging.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the present invention；
Fig. 2 is the present embodiment intermediate-freuqncy signal spectrum peak frequency capture result.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
As shown in Figure 1, the spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal described in the present embodiment, packet
It includes:
S100, intermediate-freuqncy signal is sampled and does FFT bigness scale；
S200, practical spectral peak location is determined according to FFT spectrum；
S300, by post-sampling, building underdetermined equation, do in selected frequency range the iterative process that inner product compares,
Capture value of frequency point corresponding to the actual spectrum peak value of intermediate-freuqncy signal.
Specifically:
On the basis of constructing underdetermined equation, using the substep iterative strategy of " from thick to thin ", with CW radar to single goal
For testing the speed, the specific steps are as follows:
1. FFT bigness scale.
Carrying out N point sampling to intermediate-freuqncy signal, (note sample frequency is fs) and N point FFT, " rough " frequency spectrum is obtained, before finding it
Half section of crest frequency (is denoted as fm0), the peak value value of frequency point of initialization algorithm (is denoted asEven) and search frequency band
Range (is denoted as S, even S=(fm0-fs/N,fm0+fs/N))。
2. i-th (i=1,2,3....) iteration of spectrum peak position updates.
(i) retain sequence to arrange, intermediate-freuqncy signal is continued to post-sampling and constructs underdetermined equation.
Assuming that reaching N to post-sampling to total pointsi, then constructed underdetermined equation is represented by
(ii) using S as prior information, inner product is done in the frequency range and is compared.
If in new frequency spectrum resolution ratio fs/NiUnderPoint is uncovered, then ApIn only take corresponding to adjacent in S frequency range
Two column (are assumed to be K1、K2Column, are denoted as A respectivelypK1、ApK2) and bpInner product selects modulus value the greater to retain (being denoted as Λ), i.e.,
Λ=max (| < ApK1,bp>|,|<ApK2,bp>|) (8)
If in new frequency spectrum resolution ratio fs/NiUnderPoint is covered to, then ApIt is middle to there are 3 adjacent column participation inner products to compare,
Assuming that being denoted as ApK1、ApK2、ApK3, then
Λ=max (| < ApK1,bp>|,|<ApK2,bp>|,|<ApK3,bp>|) (9)
(iii) energy barycenter correction principle is introduced, is updated
(f is denoted as with frequency point corresponding to ΛΛ, energy is considered Λ at the point2) centered on, take fΛ-fs/Ni、fΛ、fΛ+
fs/Ni3 points are made energy barycenter correction, and the value of frequency point after note correction is fΛi, updateFor
In addition, sampling total points Ni=2lWhen N (l=1,2,3....), update S is S=(fΛ-fs/Ni,fΛ+fs/
Ni) (11)
Increasing with iterative steps as a result, the peak value frequency point which calculatesThe true of intermediate-freuqncy signal will constantly be approached
Frequency corresponding to real spectral peak.
It is the concrete application of this implementation below:
To test effectiveness of the invention, selects a tranmitting frequency for the CW radar of 24.15GHz, work is patrolled in constant speed
Single goal (velocity amplitude is set as 60km/h) under model plane formula tests the speed, and the A/D sample frequency of rear end single-chip microcontroller is set as
20.5kHz。
According to the linear relationship between intermediate-freuqncy signal peak value spectral line and target velocity, it is known that frequency theory value should be at spectral peak
2683.3Hz.Underdetermined equation is constructed with 30% extraction ratio, FFT bigness scale points are set as at 64 points, are iterated to calculate using substep, surveyed
Test result is as shown in Figure 2.
From Figure 2 it can be seen that gradually increasing with sampling number, algorithm calculated result designed by the present invention can be stable repeatedly
In generation, converges on 2683.3Hz.
Operand (multiplication number) of the algorithm in different sampled points is as shown in table 1.
1 operand of table statistics
In summary: the method for the present embodiment can approach rapidly intermediate frequency after completing FFT bigness scale with low computation complexity
Value of frequency point corresponding to the real frequency spectrum peak value of signal, and then realize quick, the high precision speed-measuring ranging of continuous millimetre-wave radar.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. a kind of spectral peak method for fast searching of millimetre-wave radar rear end intermediate-freuqncy signal, it is characterised in that: include the following steps,
S100, intermediate-freuqncy signal is sampled and does FFT bigness scale；
S200, practical spectral peak location is determined according to FFT spectrum；
S300, by post-sampling, building underdetermined equation, do in selected frequency range the iterative process that inner product compares, capture
Value of frequency point corresponding to the actual spectrum peak value of intermediate-freuqncy signal.
2. the spectral peak method for fast searching of millimetre-wave radar rear end according to claim 1 intermediate-freuqncy signal, it is characterised in that:
The S100 is sampled to intermediate-freuqncy signal and is done FFT bigness scale, is specifically included:
N point sampling and N point FFT are carried out to intermediate-freuqncy signal, note sample frequency is fs, obtain preliminary frequency spectrum.
3. the spectral peak method for fast searching of millimetre-wave radar rear end according to claim 2 intermediate-freuqncy signal, it is characterised in that:
The step S200 determines practical spectral peak location according to FFT spectrum；It specifically includes,
Based on the preliminary frequency spectrum that step S100 is obtained, the crest frequency of its front half section is found, f is denoted asm0, the peak value of initialization algorithm
Value of frequency point is denoted asEvenSearch frequency band range is denoted as S, even S=(fm0-fs/N,fm0+fs/N)。
4. the spectral peak method for fast searching of millimetre-wave radar rear end according to claim 3 intermediate-freuqncy signal, it is characterised in that:
The step S300 by post-sampling, building underdetermined equation, do in selected frequency range the iterative process that inner product compares, catch
Catch value of frequency point corresponding to the actual spectrum peak value of intermediate-freuqncy signal；
It specifically includes,
S301, retain sequence column, intermediate-freuqncy signal is continued to post-sampling and constructs underdetermined equation；
Assuming that reaching N to post-sampling to total pointsi, then constructed underdetermined equation is represented by
S302, using S as prior information, do inner product in the frequency range and compare；
If in new frequency spectrum resolution ratio fs/NiUnderPoint is uncovered, then ApIn only take corresponding in S frequency range it is adjacent two column
It is assumed to be K1、K2Column, are denoted as A respectivelypK1、ApK2With bpInner product selects the reservation of modulus value the greater to be denoted as Λ, i.e.,
Λ=max (| < ApK1,bp>|,|<ApK2,bp>|) (8)
If in new frequency spectrum resolution ratio fs/NiUnderPoint is covered to, then ApIt is middle to there are 3 adjacent column participation inner products to compare, it is assumed that
It is denoted as ApK1、ApK2、ApK3, then
Λ=max (| < ApK1,bp>|,|<ApK2,bp>|,|<ApK3,bp>|) (9)
S303, energy barycenter correction principle is introduced, updated
F is denoted as with frequency point corresponding to ΛΛ, energy is considered Λ at the point2Centered on, take fΛ-fs/Ni、fΛ、fΛ+fs/Ni3 points
Make energy barycenter correction, the value of frequency point after note correction is fΛi, updateFor
In addition, sampling total points Ni=2lWhen N (l=1,2,3....), updating S is
S=(fΛ-fs/Ni,fΛ+fs/Ni) (11)
Increasing with iterative steps as a result, the peak value frequency point of calculatingThe true spectral peak institute for constantly approaching intermediate-freuqncy signal is right
Answer frequency.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110927710A (en) * | 2020-02-17 | 2020-03-27 | 长沙瑞感电子科技有限公司 | High-precision high-resolution radar sensor and radar echo signal processing method |
| CN112415485A (en) * | 2020-11-09 | 2021-02-26 | 森思泰克河北科技有限公司 | Angle super-resolution method and device of millimeter wave radar and terminal equipment |
| CN113109622A (en) * | 2021-04-15 | 2021-07-13 | 南方电网科学研究院有限责任公司 | Analysis method and system for power grid signal frequency spectrum |
| CN113189577A (en) * | 2021-04-13 | 2021-07-30 | 电子科技大学 | LFMCW vehicle-mounted radar distance and speed measurement method based on rapid slope mode |
| WO2022242463A1 (en) * | 2021-05-19 | 2022-11-24 | Huawei Technologies Co.,Ltd. | Method and apparatus for a computationally efficient lidar system |
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| CN110927710A (en) * | 2020-02-17 | 2020-03-27 | 长沙瑞感电子科技有限公司 | High-precision high-resolution radar sensor and radar echo signal processing method |
| CN112415485A (en) * | 2020-11-09 | 2021-02-26 | 森思泰克河北科技有限公司 | Angle super-resolution method and device of millimeter wave radar and terminal equipment |
| CN112415485B (en) * | 2020-11-09 | 2022-12-27 | 森思泰克河北科技有限公司 | Angle super-resolution method and device of millimeter wave radar and terminal equipment |
| CN113189577A (en) * | 2021-04-13 | 2021-07-30 | 电子科技大学 | LFMCW vehicle-mounted radar distance and speed measurement method based on rapid slope mode |
| CN113189577B (en) * | 2021-04-13 | 2021-12-03 | 电子科技大学 | LFMCW vehicle-mounted radar distance and speed measurement method based on rapid slope mode |
| CN113109622A (en) * | 2021-04-15 | 2021-07-13 | 南方电网科学研究院有限责任公司 | Analysis method and system for power grid signal frequency spectrum |
| WO2022242463A1 (en) * | 2021-05-19 | 2022-11-24 | Huawei Technologies Co.,Ltd. | Method and apparatus for a computationally efficient lidar system |
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Application publication date: 20190405 |