CN111538012B - Self-adaptive constant false alarm detection method based on interference elimination - Google Patents
Self-adaptive constant false alarm detection method based on interference elimination Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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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
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
- G01S7/022—Road traffic radar detectors
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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
- G01S7/414—Discriminating targets with respect to background clutter
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Abstract
The invention discloses an adaptive constant false alarm detection method based on interference elimination, which comprises the following steps: firstly, setting a protection unit and a reference unit for a detection unit on a radar distance-Doppler frequency spectrum plane modulated by a sawtooth wave; secondly, arranging all reference units according to the ascending order of the power values; then, sequentially judging whether the reference unit is interference or not according to the scale factor and the estimated noise power, and determining the final non-interference number; and finally, calculating a correction threshold factor and a correction noise power according to the number of non-interference, determining a final threshold value, and judging whether the detection unit has a radar detection target. The method can effectively improve the target shielding effect under the multi-interference background in the constant false alarm detection, and improve the detection probability of the constant false alarm detection under the low signal-to-noise ratio.
Description
Technical Field
The invention belongs to the technical field of radar signal processing and automotive electronics, and particularly relates to an adaptive constant false alarm detection method based on interference elimination.
Background
The research of radar starts in the thirties of the twentieth century, and is limited by factors such as circuit integration level and cost in the early stage, and the development of radar technology is slow. With the rapid development of integrated circuits, radar signal processing techniques are gradually perfected. As automobiles are increasingly playing irreplaceable roles, road safety issues are also becoming a problem of widespread concern. Vehicle-mounted radars are undergoing continuous technological innovation as small-sized sensors for assisting driving.
The millimeter wave radar has the characteristics of small size, light weight, low cost, high resolution, strong anti-interference capability and the like, and is more suitable for a vehicle-mounted driving auxiliary system compared with a laser radar, an infrared radar and the like. The millimeter wave vehicle-mounted radar mainly detects vehicles moving on a road, judges the movement conditions of surrounding vehicles by measuring the positions and radial speeds of the vehicles, and gives timely instructions to drivers. Therefore, the performance of target detection is the most important judgment index of the vehicle-mounted radar as the automobile safety guarantee.
Constant false alarm detection is a key joint for radar target detection, and can maintain the false alarm probability of a system in a controllable range under an unknown interference environment. Currently, in the research of a constant false alarm detection algorithm of a millimeter wave vehicle-mounted radar, the noise power is generally estimated by averaging all reference units in a reference window. Due to the fact that the vehicle-mounted radar has the multi-target interference phenomenon, if interference or clutter signals with high power exist in the reference window, the estimated noise power is raised, and therefore the target is shielded. This phenomenon is also extremely severe when the target signal-to-noise ratio is low. The general improvement method is that a plurality of preprocessing operations are carried out on units in a reference window, so that the estimated noise power is closer to the true noise power, and the influence of interference and clutter on target detection is reduced.
For millimeter wave vehicle-mounted radar, under the conditions of multi-target interference and low signal-to-noise ratio, a low-complexity constant false alarm detection method capable of improving a target shielding effect needs to be found.
Disclosure of Invention
The purpose of the invention is as follows: in millimeter wave vehicle-mounted radar application, aiming at the problems of high false alarm rate and high false detection rate of a constant false alarm detection algorithm caused by a target shielding effect under the conditions of multi-target multi-interference and low signal-to-noise ratio, the self-adaptive constant false alarm detection method based on interference elimination is high in detection success rate and low in complexity.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: an adaptive constant false alarm detection method based on interference cancellation, the method comprising the steps of:
(1) for a millimeter wave vehicle-mounted radar under sawtooth wave modulation, before constant false alarm detection, FFT processing on a fast time dimension and a slow time dimension is required to be respectively carried out on echo signals reflected by a target, a frequency spectrum after FFT is a frequency spectrum plane which is expanded by a distance dimension and a Doppler dimension, and the constant false alarm detection is carried out on the distance-Doppler frequency spectrum plane;
(2) performing constant false alarm detection on each unit on a range-Doppler frequency spectrum plane, wherein the current detection unit is a detection unit, a reference unit is arranged near the detection unit, the reference units are arranged in an ascending order according to power values, and interference judgment is performed on each reference unit according to the order;
(3) according to the distribution characteristics of noise and clutter in a vehicle-mounted radar scene, a relational expression of a scale factor for maintaining the constant false alarm probability of the system and the false alarm probability of the system is given, the estimated noise power of a plurality of reference units corresponding to the current detection unit is calculated, whether the reference unit is interference or not can be judged by utilizing the scale factor corresponding to each reference unit and the current estimated noise power, and the final number of non-interference is counted;
(4) and calculating a correction threshold factor and a correction noise power according to the non-interference number so as to determine a threshold value of constant false alarm detection and judge whether the detection unit has a radar detection target.
Further, in the step (1), the number of sampling points in the fast time dimension is NqThe number of sampling points in the slow time dimension is NsThus the dimension of the range-Doppler spectral plane is Nq×Ns。
Further, in the step (2), on the range-doppler spectrum plane, for a certain detection unit, several consecutive units adjacent to the detection unit in four directions, i.e., front, back, left, and right, are set as protection units, and several consecutive units adjacent to the last protection unit are set as reference units, the protection units are set to avoid the power leakage of the detection unit into the adjacent units to affect the estimation of the reference units, assuming that there are N reference units set in the constant false alarm detection method, the N reference units are arranged in ascending order of power values:
x(1)≤x(2)≤...≤x(N) (1)
in the formula, x(i)Indicating the power value of the reference unit ordered at the ith.
Further, in the step (3), if a radar interference signal whose power does not meet the requirement appears in the reference unit, the noise estimation of the detection unit is affected, so that it is necessary to determine whether the reference unit is an interference signal and eliminate the influence of the interference.
Sequentially judging interference of the reference units which are arranged according to the ascending order of the power values, wherein k is 1 for the first reference unit;
step one, summing the power values of the first k reference units to obtain an estimated noise power ZkExpressed as:
secondly, according to the set system false alarm probability
Finding the corresponding scale factor T at kkScale factor TkSolving according to the following relation:
thirdly, judging the power of the (k + 1) th reference unit and the estimated noise power ZkAnd a scale factor TkThe magnitude relationship of the product is shown in the following formula
In the formula of U1Indicating that the (k + 1) th reference unit power value is greater than TkZkIn case (2), the reference cell power value is judged to be x(k+1)To x(N)All are interference, the number of non-interference k can be determinedopt＝k；U0Indicating that the k +1 th reference unit power value is less than TkZkIf so, determining the (k + 1) th reference cell power x(k+1)After k is equal to k +1, returning to the first step to continue detection, stopping circulation until k is equal to N, finally determining the non-interference number in the N reference units after the circulation process is finished, and using k to calculate the number of the non-interference units in the N reference unitsoptMeans that if all reference cells have power values less than TkZkThen k isopt＝N。
Further, the steps(4) In the method, a non-interference number k is obtainedoptThen, by calculating the average value of the non-interfering reference units, the corrected average noise power is obtained as:
according to a calculation threshold coefficient formula in a general constant false alarm detection algorithm, and in combination with the false alarm probability set by the system
Get at a non-interfering number of koptThe following correction threshold coefficients:
correcting threshold coefficient alpha' and correcting average noise power
Multiplying to obtain a threshold value for judging whether the detection unit has a radar detection target, assuming that the power of the detection unit is D, the process of judging whether the detection unit has a target can be represented as:
in the formula, H1Indicates that the power D of the detection unit is greater than
If so, judging that a radar detection target exists in the detection unit; h0Indicating that the power D of the detecting unit is less than
If so, it is determined that the detection unit does not have a radar detection target.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
the method can effectively solve the problem of target shielding under the conditions of multiple interferences and low signal-to-noise ratio in the conventional millimeter wave vehicle-mounted radar constant false alarm detection scheme. According to the method, interference judgment is carried out on each reference unit and each reference unit is eliminated, so that the influence of interference, clutter and the like on the estimated noise power is reduced, and the detection probability of the constant false alarm detector is greatly improved.
Drawings
FIG. 1 is a schematic diagram of an adaptive constant false alarm probability detector based on interference cancellation according to the method of the present invention;
FIG. 2 is a comparison of the constant false alarm detection probability of the method of the present invention and the conventional method at different distances according to the embodiments of the present invention.
In fig. 3, (a), (b), (c), and (d) are respectively the false alarm rate of the method of the present invention compared with the conventional method when the number of targets is 3, 5, 7, and 9 under different snr in the embodiment of the present invention.
Detailed Description
The present invention is further illustrated below by reference to specific embodiments, which are intended to be illustrative only and not to limit the scope of the invention, which is to be given the full breadth of the appended claims and any and all equivalent modifications thereof which may occur to those skilled in the art upon reading the present specification.
In the implementation case of the invention, the millimeter wave vehicle-mounted radar adopts a sawtooth wave modulated transmitting signal, and the number of units of the distance-Doppler plane is determined by the number of sampling points in a fast time dimension and the number of sampling points in a slow time dimension. The actual system parameters of the millimeter wave on-board radar are shown in table 1.
TABLE 1 actual System parameters
The specific embodiment discloses an adaptive constant false alarm detection method based on interference elimination, which specifically comprises the following steps:
step 1: for the millimeter wave vehicle-mounted radar under sawtooth wave modulation, two-dimensional constant false alarm rate detection is carried out on a distance-Doppler frequency spectrum plane during target detection through two times of fast Fourier transform of a fast time dimension and a slow time dimension. Known number of sampling points N in fast time dimensionq256, number of sampling points N in slow time dimensions256, the dimension of the range-doppler spectrum plane is Nq×Ns＝256×256。
Step 2: the number of known protection cells is set to 2 and the number of reference cells in both the fast time dimension and the slow time dimension is set to 16. On the distance-Doppler detection plane, for each detection unit, 8 reference units are respectively arranged at the positions of the protection units with the interval length of 2 in the front, back, left and right directions of the detection unit, and the 8 reference units are arranged after the 2 protection units are arranged in the front, back, left and right directions of the detection unit, so that the detection unit has 32 reference units in total.
In this case, the constant false alarm detector has N-16 + 16-32 reference units, and the 32 reference units are arranged in ascending order:
x(1)≤x(2)≤...≤x(32)
and step 3: and sequentially judging the interference of the reference units which are arranged according to the ascending power sequence. For the first reference unit, when k is 1, the first step is to sum the power values of the first k reference units to obtain the estimated noise power ZkIs shown as
Secondly, according to the set system false alarm probability
Finding the corresponding scale factor T at kk. Scale factor TkSolving according to the following relation
Thirdly, judging the power of the (k + 1) th reference unit and the estimated noise power ZkAnd a scale factor TkThe magnitude relationship of the product is shown in the following formula
In the formula of U1Indicating that the (k + 1) th reference unit power value is greater than TkZkIn case (2), the reference cell power value is judged to be x(k+1)To x(32)All are interference, the number of non-interference k can be determinedopt＝k；U0Indicating that the k +1 th reference unit power value is less than TkZkIf so, determining the (k + 1) th reference cell power x(k+1)And (4) not interfering, returning to the first step to continue detection after k is equal to k + 1. The cycle is stopped until k-N-32. After the circulation process is finished, the non-interference quantity in the 32 reference units is finally determined, and k is usedoptAnd (4) showing. If the power values of all the reference units are less than TkZkThen k isopt＝N＝32。
And 4, step 4: according to step 3, the number k of non-interference in the reference window of the detection unit is determinedopt. By calculating the mean of the non-interfering reference cells, the modified average noise power can be obtained as:
meanwhile, according to a threshold coefficient formula calculated in a general constant false alarm detection algorithm, a non-interference number k can be obtainedoptThe lower correction threshold coefficient is
Correcting threshold coefficient alpha' and correcting average noise power
And multiplying to obtain a threshold value for judging whether the detection unit has a radar detection target. Assuming that the power of the detecting unit is D, the process of determining whether the detecting unit has a target can be expressed as
In the formula, H1Indicates that the power D of the detection unit is greater than
If so, judging that a radar detection target exists in the detection unit; h0Indicating that the power D of the detecting unit is less than
If so, it is determined that the detection unit does not have a radar detection target.
Fig. 2 shows the detection probabilities of two constant false alarm detectors at longer distances of the target. The constant false alarm detection probability is defined as: the number of correct targets accounts for the proportion of the total number of detected targets after constant false alarm detection. The conventional method described in the figure is to calculate a constant threshold coefficient by setting a certain false alarm probability and reference unit number in the fast time dimension and the slow time dimension, respectively, and multiply the constant threshold coefficient by the corresponding reference unit power to obtain a threshold value and judge the threshold value. The distance 110-125m is the edge position of the radar detection distance, and the signal-to-noise ratio of the target in the area is poor. The spot scattering simulation in the area can show the adaptability of the detector to the condition of low signal-to-noise ratio.
It can be seen that when the target is beyond 117m, the detection probability of the constant false alarm rate detector using the conventional method drops down sharply from being stable at 0.94, whereas the adaptive constant false alarm rate method based on interference cancellation proposed by the present invention can maintain a good detection probability of 0.97 within 121m of the target distance. And when the target distance exceeds 120m, the performance of the method is more stable, and the speed of detecting probability reduction is faster than that of the traditional method. The simulation shows that in an actual radar scene, the detection performance of the method for the long-distance target is superior to that of the traditional method.
In fig. 3, (a), (b), (c), and (d) are respectively the false alarm rate of the method of the present invention compared with the conventional method when the number of targets is 3, 5, 7, and 9 under different snr in the embodiment of the present invention. The false-negative rate is defined as: the number of targets that cannot be detected is a proportion of the total number of detected targets. It can be seen that the conventional method has a steep drop in the false-alarm rate at a signal-to-noise ratio lower than-10 dB, whereas the inventive method has a gradual drop in the false-alarm rate at-15 dB. Under the condition of the same signal-to-noise ratio and the same target number, the curve of the improved algorithm is always under the traditional algorithm, and the method is proved to have lower overall false alarm rate than the traditional algorithm. It should be noted that, as the number of targets increases, the rate of decrease of the false-alarm rate is faster than that of the method of the present invention. This also shows that the method of the present invention has a more significant advantage in avoiding missing targets when the number of targets increases, which also results in an adaptive threshold adjustment mechanism that allows the improved algorithm to estimate the noise power more accurately.
Claims (5)
1. An adaptive constant false alarm detection method based on interference elimination is characterized by comprising the following steps:
(1) for the millimeter wave vehicle-mounted radar under sawtooth wave modulation, before constant false alarm detection, FFT processing is respectively carried out on a fast time dimension and a slow time dimension on echo signals reflected by a target to obtain a frequency spectrum plane expanded by a distance dimension and a Doppler dimension;
(2) performing constant false alarm detection on each unit on a range-Doppler frequency spectrum plane, wherein the current unit is a detection unit, a reference unit is arranged for the detection unit, the reference units are arranged according to the ascending order of power values, and interference judgment is performed on each reference unit according to the order;
(3) according to the distribution characteristics of noise and clutter in a vehicle-mounted radar scene, giving a relational expression of a scale factor for maintaining the constant false alarm probability of the system and the false alarm probability of the system, calculating the estimated noise power of a plurality of reference units corresponding to the current detection unit, judging whether the reference unit is interference or not by using the scale factor corresponding to each reference unit and the current estimated noise power, and counting the final number of non-interference;
(4) and calculating a correction threshold factor and a correction noise power according to the number of non-interference, thereby determining a threshold value of the constant false alarm detection and judging whether the detection unit has a radar detection target.
2. The adaptive constant false alarm rate detection method based on interference cancellation according to claim 1, wherein in the step (1), the number of sampling points in the fast time dimension is NqThe number of sampling points in the slow time dimension is NsThus the dimension of the range-Doppler spectral plane is Nq×Ns。
3. The adaptive constant false alarm detection method based on interference cancellation according to claim 1, wherein in the step (2), for a certain detection unit, on the range-doppler spectrum plane, consecutive units adjacent to the detection unit in four directions, front, back, left and right, are set as protection units, and consecutive units adjacent to the last protection unit are set as reference units, and assuming that there are N reference units set in the constant false alarm detection method, the N reference units are arranged in ascending order of power value:
x(1)≤x(2)≤...≤x(N) (1)
in the formula, x(i)Indicating the power value of the reference unit ordered at the ith.
4. The adaptive constant false alarm rate detection method based on interference cancellation according to claim 3, wherein the method of step (3) is specifically as follows:
sequentially judging interference of the reference units which are arranged according to the ascending order of the power values, wherein k is 1 for the first reference unit;
step one, summing the power values of the first k reference units to obtain the estimated noise workRate ZkExpressed as:
secondly, according to the set system false alarm probability
Finding the corresponding scale factor T at kkScale factor TkSolving according to the following relation:
thirdly, judging the power of the (k + 1) th reference unit and the estimated noise power ZkAnd a scale factor TkThe magnitude relationship of the product is shown as follows:
in the formula of U1Indicating that the (k + 1) th reference unit power value is greater than TkZkIn case (2), the reference cell power value is judged to be x(k+1)To x(N)All are interference, the number of non-interference k can be determinedopt＝k；U0Indicating that the k +1 th reference unit power value is less than TkZkIf so, determining the (k + 1) th reference cell power x(k+1)After k is equal to k +1, returning to the first step to continue detection, stopping circulation until k is equal to N, finally determining the non-interference number in the N reference units after the circulation process is finished, and using k to calculate the number of the non-interference units in the N reference unitsoptMeans that if all reference cells have power values less than TkZkThen k isopt＝N。
5. The adaptive constant false alarm rate detector based on interference cancellation as claimed in claim 3Method, characterized in that in step (4) a non-interfering number k is obtainedoptThen, by calculating the average value of the non-interfering reference units, the corrected average noise power is obtained as:
according to a calculation threshold coefficient formula in a general constant false alarm detection algorithm, and in combination with the false alarm probability set by the system
Get at a non-interfering number of koptThe following correction threshold coefficients:
correcting threshold coefficient alpha' and correcting average noise power
Multiplying to obtain a threshold value for judging whether the detection unit has a radar detection target, assuming that the power of the detection unit is D, the process of judging whether the detection unit has a target can be represented as:
in the formula, H1Indicates that the power D of the detection unit is greater than
If so, judging that a radar detection target exists in the detection unit; h0Indicating that the power D of the detecting unit is less than
In case of (1), then judgeThe detection unit is switched off without radar detection target.
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