CN110133638A - It can be used for detecting the radar system and its application method of low small slow target object - Google Patents
It can be used for detecting the radar system and its application method of low small slow target object Download PDFInfo
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- CN110133638A CN110133638A CN201910423290.3A CN201910423290A CN110133638A CN 110133638 A CN110133638 A CN 110133638A CN 201910423290 A CN201910423290 A CN 201910423290A CN 110133638 A CN110133638 A CN 110133638A
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- target object
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- slow target
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- 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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- 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
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
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
The radar system disclosed by the invention that can be used for detecting low small slow target object, it is related to Radar Technology field, including phased-array radar, frequency modulated(FM) radar, continuous wave radar and display equipment, the azimuth information of low small slow target object is obtained using phased-array radar, the range information of low small slow target object is obtained using frequency modulated(FM) radar, the motion information of low small slow target object is obtained using continuous wave radar, it eliminates since low small slow target object movement causes Doppler frequency shift bring distance to detecting error, it realizes while the tracking to multiple low small slow target objects, improve the precision and efficiency for detecting low small slow target object.In addition, the invention also discloses the application methods of the radar system for detecting low small slow target object.
Description
Technical field
The present invention relates to Radar Technology fields, and in particular to a kind of radar system that can be used for detecting low small slow target object
And its application method.
Background technique
Radar generally includes to information such as the presence or absence of target object, distance, speed and orientation the detecting of target object
It obtains.
The time difference of pulse signal and reception echo pulse signal that traditional pulse radar is emitted by measurement
Calculate the distance between target object and radar.It is limited to radar transmitted pulse signal and is not easily achieved very narrow, lead to low coverage
The target object of (10-500 meters) is in the blind area of radar detecting.Conventional radar passes through servo electrical machinery system control radar day simultaneously
Line rotates to detect target object, receives echo-signal when radar antenna turns to some angle, this angle represents target
Azimuth information causes detecting speed relatively slow and to multiple targets while cannot track.Conventional linear frequency modulation is continuous
Wave radar, the continuous wave signal that tranmitting frequency changes linearly over time irradiates target, since target bitmap echo-signal is deposited
Apart from time delay, echo-signal and transmitting signal, there are frequency differences, although causing linear frequency to modulate continuous wave radar can solve arteries and veins
Radar low coverage detection problem is rushed, but there are biggish errors for the detecting of the target object for moving under Clutter Background.
Summary of the invention
To solve the deficiencies in the prior art, it can be used for detecting low small slow target object the embodiment of the invention provides a kind of
Radar system and its application method.
In a first aspect, the radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object includes:
Phased-array radar, frequency modulated(FM) radar, continuous wave radar and display equipment, in which:
The phased-array radar, for monitoring whether that there are the orientation of low small slow target object and low small slow target object letters
Breath；
The frequency modulated(FM) radar, for obtaining the range information of low small slow target object in real time and sending the range information
To the display equipment, wherein the range information includes the distance between the low small slow target object and frequency modulated(FM) radar；
The continuous wave radar, for obtaining the motion information of low small slow target object in real time and sending out the motion information
It send to the display equipment, wherein the motion information includes the speed of the low small slow target object.
Second aspect, the application side of the radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object
Method the following steps are included:
The the first transmitting signal for carrying single-frequency continuous wave signal is generated using continuous wave radar, is believed according to first transmitting
Number, first, which is generated, in receiving end receives signal；
The first transmitting signal and the first reception signal are mixed, obtain low small slow target object because of movement
The Doppler frequency shift f of generationD；
According to formulaMovement velocity v of the low small slow target object relative to radar system is obtained,
Wherein, f0For the centre frequency of continuous wave radar frequency sweep, c0For the light velocity, a is the direction and vertical side of low small slow target object movement
Angle between.
The third aspect, another kind provided in an embodiment of the present invention can be used for detecting low small slow mesh as described in claim 1
Mark the application method of the radar system of object, comprising the following steps:
The the second transmitting signal for carrying frequency-modulated continuous-wave signals is generated using frequency modulated(FM) radar, is believed according to second transmitting
Number, second, which is generated, in receiving end receives signal；
The second transmitting signal and the second reception signal are mixed, obtain low small slow target object because of distance
The Doppler frequency shift f of generationd；
According to formulaThe distance between low small slow target object and frequency modulated(FM) radar R is obtained,
In, T is the signal period of frequency-modulated continuous-wave signals, and Δ f is the bandwidth of frequency-modulated continuous-wave signals.
Fourth aspect, another kind provided in an embodiment of the present invention can be used for detecting low small slow mesh as described in claim 1
Mark the application method of the radar system of object, comprising the following steps:
Apply different voltage by the phase shifter to each antenna of the phased-array radar, is assigned to each antenna different
Phase, formed phased array antenna, using the phased array antenna obtain low small slow target object azimuth information and simultaneously with
The multiple low small slow target objects of track.
Preferably, the azimuth information includes longitude and latitude locating for low small slow target object.
The radar system that can be used for detecting low small slow target object and its application method that present aspect embodiment provides have
Below the utility model has the advantages that
The motion information that target object is obtained using continuous wave radar, obtains low small slow target object using frequency modulated(FM) radar
Range information, the orientation information of phased-array radar quick obtaining target object in a manner of electric scanning, eliminates due to low small
Slow target object movement causes Doppler frequency shift bring distance to detecting error, realizes while to multiple low small slow objects
The tracking of body improves the precision and efficiency for detecting low small slow target object.
Detailed description of the invention
Fig. 1 is the structural representation of the radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object
Figure；
Fig. 2 is that the working principle of the radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object is shown
It is intended to；
Fig. 3 is the phased-array radar of the radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object
Structural schematic diagram.
Specific embodiment
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
Referring to Fig.1, the radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object includes phased
Battle array radar, frequency modulated(FM) radar, continuous wave radar and display equipment, in which:
Phased-array radar, for monitoring whether the azimuth information there are low small slow target object and low small slow target object；
Frequency modulated(FM) radar is set for obtaining the range information of low small slow target object in real time and range information being sent to display
It is standby, wherein range information includes the distance between the low small slow target object and frequency modulated(FM) radar；
Continuous wave radar, for obtaining the motion information of low small slow target object in real time and being sent to motion information described
Show equipment, wherein motion information includes the speed of low small slow target object.
Referring to fig. 2, the work of the radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object is former
It manages as follows:
The the first transmitting signal for carrying single-frequency continuous wave signal is generated using continuous wave radar, emits signal according to first,
First, which is generated, in receiving end receives signal；
First transmitting signal and the first reception signal are mixed, it is more because movement generates to obtain low small slow target object
General Le frequency displacement fD；
According to formulaMovement velocity v of the low small slow target object relative to radar system is obtained,
Wherein, f0For the centre frequency of continuous wave radar frequency sweep, c0For the light velocity, a is the direction and vertical side of low small slow target object movement
Angle between；
The the second transmitting signal for carrying frequency-modulated continuous-wave signals is generated using frequency modulated(FM) radar, emits signal according to second,
Receiving end generates second and receives signal；
Second transmitting signal and the second reception signal are mixed, it is more because distance generates to obtain low small slow target object
General Le frequency displacement fd；
According to formulaThe distance between low small slow target object and frequency modulated(FM) radar R is obtained,
In, ± target object is represented relative to frequency modulated(FM) radar radial motion, when target object is far from frequency modulated(FM) radar, fDNegative value is taken, when
When target object is close to frequency modulated(FM) radar, fDTake positive value.
T is the signal period of frequency-modulated continuous-wave signals, and Δ f is the bandwidth of frequency-modulated continuous-wave signals；
By applying different voltage to the phase shifter of each antenna of phased-array radar, different phases is assigned to each antenna
Position, formed phased array antenna, using phased array antenna obtain low small slow target object azimuth information and simultaneously track it is multiple low
Small slow target object, wherein the orientation information includes longitude and latitude locating for low small slow target object.
As a specific embodiment, Doppler frequency shift fDCircular is as follows:
In signal period T, the single-frequency continuous wave signal of continuous wave radar transmitting be may be expressed as:
S (t)=Acos (2 π ft+ π kt2), wherein A is the amplitude of the single-frequency continuous wave signal of transmitting, and f is single-frequency company
The original frequency of continuous wave signal, K is natural number, 0≤t≤T；
The echo-signal of reflection may be expressed as:
R (t)=Bcos (2 π f (t- τ)+π k (t- τ)2), wherein the amplitude of the received single-frequency continuous wave signal of B, τ are to pass
Defeated time delay.
According to formula y (t)=s (t) × r (t), the signal of transmitting is mixed with received signal, obtains mixed frequency signal simultaneously
The mixed frequency signal is filtered out into two harmonics to get difference frequency signal y (t)=cos (2 π f are arrivedDT), difference frequency signal y (t) is done into AD
Sampling becomes digital signal y (n), and y (n) then changed to frequency domain by Fast Fourier Transform (FFT), be maximized can be obtained by
The difference frequency f that propagation delay τ is generatedD。
As a specific embodiment, as shown in figure 3, the phased-array radar includes 16 phased array antenna, Mei Gexiang
Controlling array antenna includes 8 units, and the phase of this 16 phased array antenna is respectively φ0-φ15。
The radar system provided in an embodiment of the present invention that can be used for detecting low small slow target object includes phased-array radar, adjusts
Frequency radar, continuous wave radar and display equipment, the azimuth information of low small slow target object is obtained using phased-array radar, utilizes tune
Frequency radar obtains the range information of low small slow target object, is believed using the movement that continuous wave radar obtains low small slow target object
Breath is eliminated since low small slow target object movement causes Doppler frequency shift bring distance to detecting error, is realized simultaneously
Tracking to multiple low small slow target objects improves the precision and efficiency for detecting low small slow target object.
In addition, the embodiment of the invention also provides the application sides for the radar system that can be used for detecting low small slow target object
Method.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be and not represent the superiority and inferiority of each embodiment for distinguishing each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In addition, memory may include the non-volatile memory in computer-readable medium, random access memory
(RAM) and/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes extremely
A few storage chip.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (5)
1. a kind of radar system that can be used for detecting low small slow target object characterized by comprising phased-array radar, frequency modulation
Radar, continuous wave radar and display equipment, in which:
The phased-array radar, for monitoring whether the azimuth information there are low small slow target object and low small slow target object；
The frequency modulated(FM) radar, for obtaining the range information of low small slow target object in real time and the range information being sent to institute
State display equipment, wherein the range information includes the distance between the low small slow target object and described frequency modulated(FM) radar；
The continuous wave radar, for obtaining the motion information of low small slow target object in real time and being sent to the motion information
The display equipment, wherein the motion information includes the speed of the low small slow target object.
2. a kind of application method for the radar system that can be used for detecting low small slow target object as described in claim 1, special
Sign is, comprising:
The the first transmitting signal for carrying single-frequency continuous wave signal is generated using continuous wave radar, emits signal according to described first,
First, which is generated, in receiving end receives signal；
The first transmitting signal and the first reception signal are mixed, obtain low small slow target object because movement generates
Doppler frequency shift fD；
According to formulaMovement velocity v of the low small slow target object relative to radar system is obtained,
In, f0For the centre frequency of continuous wave radar frequency sweep, c0For the light velocity, a is direction and the vertical direction of low small slow target object movement
Between angle.
3. a kind of application method for the radar system that can be used for detecting low small slow target object as described in claim 1, special
Sign is, comprising:
The the second transmitting signal for carrying frequency-modulated continuous-wave signals is generated using frequency modulated(FM) radar, emits signal according to described second,
Receiving end generates second and receives signal；
The second transmitting signal and the second reception signal are mixed, obtain low small slow target object because distance generates
Doppler frequency shift fd；
According to formulaObtain the distance between low small slow target object and frequency modulated(FM) radar R, wherein T
For the signal period of frequency-modulated continuous-wave signals, Δ f is the bandwidth of frequency-modulated continuous-wave signals.
4. a kind of application method using the radar system that can be used for detecting low small slow target object as described in claim 1,
It is characterised by comprising:
Apply different voltage by the phase shifter to each antenna of the phased-array radar, different phases is assigned to each antenna
Position forms phased array antenna, obtains the azimuth information of low small slow target object using the phased array antenna and while tracking more
A low small slow target object.
5. the application method of the radar system according to claim 4 that can be used for detecting low small slow target object, feature
It is, the azimuth information includes longitude and latitude locating for low small slow target object.
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