CN112859061A - Multi-target detection method based on frequency modulation continuous wave radar - Google Patents

Multi-target detection method based on frequency modulation continuous wave radar Download PDF

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CN112859061A
CN112859061A CN202110271491.3A CN202110271491A CN112859061A CN 112859061 A CN112859061 A CN 112859061A CN 202110271491 A CN202110271491 A CN 202110271491A CN 112859061 A CN112859061 A CN 112859061A
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frequency
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radar
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CN112859061B (en
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黄玲
田明
李林霞
程瑜
张东升
邵军军
王刚
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Lanzhou University of Technology
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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
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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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Abstract

The invention discloses a multi-target detection method based on a frequency modulation continuous wave radar, which comprises the following steps: firstly, performing one-dimensional fast Fourier transform on a constant frequency band to obtain a target speed matrix, then performing two-dimensional fast Fourier transform on trapezoidal wave and triangular wave up-down frequency sweep frequency bands, wherein peak points correspond to a central frequency and a fuzzy Doppler frequency respectively, then pairing a target by using the trapezoidal wave up-down frequency sweep frequency band and the constant frequency band to obtain target primary selection information, then pairing the obtained signal with a triangular wave intermediate frequency signal to obtain real target intermediate frequency signal information, and further obtaining the distance to the target. The invention solves the problems of false targets in multi-target detection and low pairing speed in the prior art.

Description

Multi-target detection method based on frequency modulation continuous wave radar
Technical Field
The invention relates to the technical field of signal processing, in particular to a multi-target detection method based on a frequency modulation continuous wave radar.
Background
Automobile radars, automatic driving and auxiliary lane changing play very important roles in current automobile driving, and can help a driver to detect the relative speed and distance with other vehicles in front, and timely take necessary braking measures at dangerous moments to protect personnel safety.
The principle of the automobile anti-collision radar is to detect target information by utilizing radar echo, and the emission waveform of the radar is mainly frequency-modulated continuous waves. However, in the aspect of multi-target identification, the frequency modulated continuous wave has the problems of false alarm and false target.
Disclosure of Invention
The embodiment of the invention provides a multi-target detection method based on a frequency modulation continuous wave radar, which is used for solving the problems in the background technology.
The embodiment of the invention provides a multi-target detection method of a frequency modulation continuous wave radar, which comprises the following steps:
performing multi-target detection by adopting a frequency-modulated continuous wave radar combining triangular waves and trapezoidal waves;
performing one-dimensional fast Fourier transform on the constant frequency band waveform to obtain a constant frequency band intermediate frequency signal; determining the real speed of the target according to the constant-frequency-band intermediate-frequency signal;
performing two-dimensional fast Fourier transform on the waveform of the upper sweep frequency band to obtain the difference frequency center frequency of the upper sweep frequency; performing two-dimensional fast Fourier transform on the lower swept frequency band waveform to obtain the difference frequency center frequency of the lower swept frequency;
primarily selecting a target intermediate frequency signal according to the real speed of the target, the difference frequency central frequency of the upper frequency sweep and the difference frequency central frequency of the lower frequency sweep of the trapezoidal wave to obtain a residual target intermediate frequency signal;
combining the residual target intermediate frequency signals with the difference frequency central frequency of the upper frequency sweep and the difference frequency central frequency of the lower frequency sweep of the triangular wave, and screening the target by adopting different periods to obtain a final target intermediate frequency signal;
and determining the distance between the radar and the target according to the final intermediate frequency signal of the target and the real speed of the target.
Further, the frequency modulated continuous wave combining the triangular wave and the trapezoidal wave is: the triangular wave and the trapezoidal wave are combined into a waveform according to different periods.
Further, the real speed of the target is determined by:
Figure BDA0002974699040000021
wherein f issIs a constant frequency band intermediate frequency signal; f. of0Is the carrier frequency; and c is the wave propagation velocity.
Further, the obtaining of the difference frequency center frequency of the upper sweep specifically includes:
the upper sweep frequency band radar transmits a signal model:
Figure BDA0002974699040000022
wherein A is the amplitude of the transmitted signal,
Figure BDA0002974699040000023
mu is the modulation slope for the initial phase of the transmitted signal;
assuming that the relative velocity of the target and the radar is v, and the direction away from the radar is positive, the echo signal of the target is:
Figure BDA0002974699040000024
wherein H is a coefficient related to the reflection intensity and propagation attenuation of the target;
Figure BDA0002974699040000025
representing an additional phase shift caused by target reflections; τ (t) is a time delay function of the received signal, and is expressed as follows:
Figure BDA0002974699040000026
mixing x (t) with xr(t) mixing to obtain a difference frequency signal:
Figure BDA0002974699040000027
after fast Fourier transform and simplification are carried out, the difference frequency center frequency of the upper sweep frequency is obtained as follows:
Figure BDA0002974699040000028
wherein, R is the distance between the radar and the target.
Further, the obtaining of the difference frequency center frequency of the lower sweep frequency specifically includes:
the lower sweep frequency band radar emission signal model:
Figure BDA0002974699040000031
wherein A is the amplitude of the transmitted signal,
Figure BDA0002974699040000032
mu is the modulation slope for the initial phase of the transmitted signal;
assuming that the relative velocity of the target and the radar is v, and the direction away from the radar is positive, the echo signal of the target is:
Figure BDA0002974699040000033
mixing x (t) with xr(t) mixing to obtain a difference frequency signal:
Figure BDA0002974699040000034
wherein H is a coefficient related to the reflection intensity and propagation attenuation of the target;
Figure BDA0002974699040000035
representing an additional phase shift caused by target reflections; τ (t) is a time delay function of the received signal, and is expressed as follows:
Figure BDA0002974699040000036
after fast Fourier transform and simplification are carried out, the difference frequency center frequency of the lower sweep frequency is obtained as follows:
Figure BDA0002974699040000037
wherein, R is the distance between the radar and the target.
Further, the initial selection of the target intermediate frequency signal is determined by the following formula:
|fup,i-fdown,i|＝2fs,i
where i is the ith wave.
Further, the screening of the target with different periods specifically includes:
f1≈f0
Figure BDA0002974699040000038
Figure BDA0002974699040000041
wherein, muiIs the modulation slope of the triangular wave; f. ofup,1Is the upper sweep difference frequency; f. ofdown,1Is the lower swept difference frequency.
Further, the distance R between the radar and the target is determined by the following formula:
Figure BDA0002974699040000042
where f is the final target intermediate frequency signal.
The embodiment of the invention provides a multi-target detection method based on a frequency modulation continuous wave radar, which has the following beneficial effects compared with the prior art:
the invention improves the multi-target identification capability of FMCW signals and simultaneously reduces the time required by target matching. Because the information of the real target does not change along with the change of the period, the speed and the distance value can be effectively reserved; the information of the false target is influenced by cycle variation, and the values of different cycle speed and distance information are different. Therefore, on the basis of matching with a constant frequency band to obtain the target speed, the information value of the real target can be obtained by using the variable-period triangular wave to carry out pairing twice. And because the constant frequency band speed dimension value is real and effective, the sweep frequency signals needing to be paired can be greatly reduced, and the time required by pairing is greatly reduced.
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Fig. 1 is a flowchart of a multi-target detection method based on a frequency modulated continuous wave radar according to an embodiment of the present invention;
fig. 2 is a transmission signal of a radar improvement waveform provided by an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a multi-target detection method based on a frequency modulated continuous wave radar, where the method includes:
step 1, performing multi-target detection by adopting a frequency modulation continuous wave radar combining triangular waves and trapezoidal waves.
Step 2, performing one-dimensional fast Fourier transform on the constant frequency band waveform to obtain a constant frequency band intermediate frequency signal; and determining the real speed of the target according to the constant frequency band intermediate frequency signal. Namely, one-dimensional fast Fourier transform is carried out on the constant frequency band to obtain a target speed matrix.
Step 3, performing two-dimensional fast Fourier transform on the waveform of the upper swept frequency band to obtain the difference frequency center frequency of the upper swept frequency; and performing two-dimensional fast Fourier transform on the lower swept frequency band waveform to obtain the difference frequency center frequency of the lower swept frequency. Namely, two-dimensional fast Fourier transform is carried out on the upper and lower frequency sweep frequency bands of the trapezoidal wave and the triangular wave, and peak points respectively correspond to the central frequency and the fuzzy Doppler frequency.
And 4, primarily selecting the target intermediate frequency signal according to the real speed of the target, the difference frequency central frequency of the upper frequency sweep and the difference frequency central frequency of the lower frequency sweep of the trapezoidal wave, and obtaining the residual target intermediate frequency signal.
And 5, combining the residual target intermediate frequency signals with the difference frequency central frequency of the upper frequency sweep and the difference frequency central frequency of the lower frequency sweep of the triangular wave, and screening the target by adopting different periods to obtain the final target intermediate frequency signals.
And 6, determining the distance between the radar and the target according to the final target intermediate frequency signal and the real speed of the target.
The above steps 2 and 3 are specifically explained as follows:
the difference frequency signals of the upper and lower sweep frequencies are identical in nature and are only opposite in slope, so the sweep frequency is taken as an example at this time, and f is analyzedupThe solving process of (2) and the working principle of traditional triangular wave target identification are known at the same time, and the model of the emission signal is as follows:
Figure BDA0002974699040000051
wherein A is the amplitude of the transmitted signal,
Figure BDA0002974699040000052
for the initial phase of the transmitted signal, f0And μ is the carrier frequency and modulation slope.
Assuming that the relative velocity of the target to the radar is v (positive in the direction away from the radar), the echo signal of the target is:
Figure BDA0002974699040000061
where H is a coefficient related to the reflection intensity and propagation attenuation of the target,
Figure BDA0002974699040000062
representing the additional phase shift caused by the target reflection. The time delay function of the received signal is tau (t), and the expression is as follows:
Figure BDA0002974699040000063
mixing x (t) with xr(t) mixing to obtain a difference frequency signal:
Figure BDA0002974699040000064
performing fast Fourier transform:
Figure BDA0002974699040000065
after simplification, the difference frequency center frequency of the upper sweep frequency is obtained as follows:
Figure BDA0002974699040000066
similarly, the frequency of the difference frequency signal of the lower sweep frequency is the same as the solving process of the upper sweep frequency, and the emission signal model after the slope is changed into the opposite number is as follows.
Figure BDA0002974699040000067
The echo signals of the target are:
Figure BDA0002974699040000068
mixing can result in a difference frequency signal:
Figure BDA0002974699040000071
the difference frequency center frequency of the lower sweep frequency obtained after simplification is as follows:
Figure BDA0002974699040000072
in addition, the constant frequency band does not exist because the slope mu does not exist, so the constant frequency band
Figure BDA0002974699040000073
The above step 4 is specifically explained as follows:
the primary formula is as follows:
|fup,i-fdown,i|＝2fs,i
due to | fup,i-fdown,i|＝2fs,iTherefore, if the expression is satisfied and the speed is satisfied
Figure BDA0002974699040000074
On the premise, the target initial selection is finished. Specifically, i is the ith symmetric triangular wave (the triangular wave and the trapezoidal wave up-and-down scanning frequency band form two triangular waves).
The above step 5 is specifically explained as follows:
combining and screening the intermediate frequency signal obtained in the step (4) and the intermediate frequency signal obtained by the triangular wave to obtain a final target intermediate frequency signal; because the information of the real target is not influenced by the periodic variation, and the information of the false target is influenced by the periodic variation, the targets are screened by adopting different periods,
f1≈f0
Figure BDA0002974699040000075
Figure BDA0002974699040000076
the above step 6 is specifically explained as follows:
and 5, calculating the intermediate frequency signal obtained in the step 5 to obtain the distance information of the target, wherein the formula for calculating the target distance is as follows:
Figure BDA0002974699040000077
where f is the final target intermediate frequency signal.
Description of the principles of the invention:
the invention relates to an improved frequency-modulated continuous wave multi-target radar waveform design, in frequency-modulated continuous wave multi-target detection, because various conditions exist in target up-down frequency sweep pairing, n frequency sweep signals can appear under the condition of up-down frequency sweep signals of n targets2An object pairing situation, where n is2N false targets, the conventional method cannot distinguish between false and true targets. The key point of the invention is that the automobile anti-collision radar waveform combining triangular wave and trapezoidal wave is designed, and a corresponding improved pairing algorithm is provided, so that a plurality of real targets can be more effectively detected, and the interference of false targets is removed.
Further, the invention relates to a multi-target identification waveform design and algorithm for frequency modulated continuous waves. The single waveform cannot solve the target identification problem under the condition of multiple targets, and in the aspect of pairing, the target upper and lower frequency sweeping pairing is directly carried out, so that too much time is consumed, the target true speed is firstly obtained by using a constant frequency band, and then the obtained target speed is used for obtaining the target true frequency. The same situation may exist in the signals obtained by the target speed, so that the final real target up-down frequency sweeping information is obtained by using the variable triangular wave. Since the real target is not influenced by the periodic variation, and the false target is influenced by the periodic variation, the problem of target authenticity is solved by adopting the variable-period triangular wave.
In summary, in the present invention, first, a one-dimensional fast fourier transform is performed on a constant frequency band to obtain a target velocity matrix, then, a two-dimensional fast fourier transform is performed on trapezoidal wave and triangular wave up and down frequency sweep frequency bands, peak points correspond to a center frequency and a fuzzy doppler frequency, then, the trapezoidal wave up and down frequency sweep frequency bands and the constant frequency band are used to pair targets to obtain target primary selection information, and then, the obtained signal is paired with a triangular wave intermediate frequency signal to obtain real target intermediate frequency signal information, and further, a distance to the target. The invention solves the problems of false targets in multi-target detection and low pairing speed in the prior art. The traditional chirp continuous wave has great problems in both the aspect of multi-target identification and the aspect of target pairing speed. The invention aims to improve the target identification capability, improve the target identification capability from the aspects of flexibility, practicability, precision and the like, and greatly improve the flexibility and the accuracy of signal extraction and processing by only adjusting signals for different occasions to meet different requirements.
Although the embodiments of the present invention have been disclosed in the foregoing for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying drawings.

Claims (8)

1. A multi-target detection method based on frequency modulated continuous wave radar is characterized by comprising the following steps:
performing multi-target detection by adopting a frequency-modulated continuous wave radar combining triangular waves and trapezoidal waves;
performing one-dimensional fast Fourier transform on the constant frequency band waveform to obtain a constant frequency band intermediate frequency signal; determining the real speed of the target according to the constant-frequency-band intermediate-frequency signal;
performing two-dimensional fast Fourier transform on the waveform of the upper sweep frequency band to obtain the difference frequency center frequency of the upper sweep frequency; performing two-dimensional fast Fourier transform on the lower swept frequency band waveform to obtain the difference frequency center frequency of the lower swept frequency;
primarily selecting a target intermediate frequency signal according to the real speed of the target, the difference frequency central frequency of the upper frequency sweep and the difference frequency central frequency of the lower frequency sweep of the trapezoidal wave to obtain a residual target intermediate frequency signal;
combining the residual target intermediate frequency signals with the difference frequency central frequency of the upper frequency sweep and the difference frequency central frequency of the lower frequency sweep of the triangular wave, and screening the target by adopting different periods to obtain a final target intermediate frequency signal;
and determining the distance between the radar and the target according to the final intermediate frequency signal of the target and the real speed of the target.
2. A multiple target detection method based on frequency modulated continuous wave radar as claimed in claim 1, wherein the frequency modulated continuous wave of the combination of the triangular wave and the trapezoidal wave is: the triangular wave and the trapezoidal wave are combined into a waveform according to different periods.
3. A multiple target detection method based on frequency modulated continuous wave radar as claimed in claim 1 wherein the true velocity of the target is determined by:
Figure FDA0002974699030000011
wherein f issIs a constant frequency band intermediate frequency signal; f. of0Is the carrier frequency; and c is the wave propagation velocity.
4. The multi-target detection method based on frequency modulated continuous wave radar as claimed in claim 3, wherein the obtaining of the difference frequency center frequency of the up-sweep specifically comprises:
the upper sweep frequency band radar transmits a signal model:
Figure FDA0002974699030000012
wherein A is the amplitude of the transmitted signal,
Figure FDA0002974699030000013
mu is the modulation slope for the initial phase of the transmitted signal;
assuming that the relative velocity of the target and the radar is v, and the direction away from the radar is positive, the echo signal of the target is:
Figure FDA0002974699030000021
wherein H is a coefficient related to the reflection intensity and propagation attenuation of the target;
Figure FDA0002974699030000022
representing an additional phase shift caused by target reflections; τ (t) is a time delay function of the received signal, and is expressed as follows:
Figure FDA0002974699030000023
mixing x (t) with xr(t) mixing to obtain a difference frequency signal:
Figure FDA0002974699030000024
after fast Fourier transform and simplification are carried out, the difference frequency center frequency of the upper sweep frequency is obtained as follows:
Figure FDA0002974699030000025
wherein, R is the distance between the radar and the target.
5. The multi-target detection method based on frequency modulated continuous wave radar as claimed in claim 4, wherein the obtaining of the difference frequency center frequency of the lower sweep frequency specifically comprises:
the lower sweep frequency band radar emission signal model:
Figure FDA0002974699030000026
wherein A is the amplitude of the transmitted signal,
Figure FDA0002974699030000027
mu is the modulation slope for the initial phase of the transmitted signal;
assuming that the relative velocity of the target and the radar is v, and the direction away from the radar is positive, the echo signal of the target is:
Figure FDA0002974699030000028
mixing x (t) with xr(t) mixing to obtain a difference frequency signal:
Figure FDA0002974699030000029
wherein H is a coefficient related to the reflection intensity and propagation attenuation of the target;
Figure FDA00029746990300000210
representing an additional phase shift caused by target reflections; τ (t) is a time delay function of the received signal, and is expressed as follows:
Figure FDA0002974699030000031
after fast Fourier transform and simplification are carried out, the difference frequency center frequency of the lower sweep frequency is obtained as follows:
Figure FDA0002974699030000032
wherein, R is the distance between the radar and the target.
6. A multiple target detection method based on frequency modulated continuous wave radar as claimed in claim 5, characterized in that the primary selection of the target intermediate frequency signal is determined by the following formula:
|fup,i+fdown,i|＝2fs,i
where i is the ith wave.
7. The multiple-target detection method based on frequency modulated continuous wave radar as claimed in claim 5, wherein the screening of the targets with different periods specifically comprises:
f1≈f0
Figure FDA0002974699030000033
Figure FDA0002974699030000034
wherein, muiIs the modulation slope of the triangular wave; f. ofup,1Is the upper sweep difference frequency; f. ofdown,1Is the lower swept difference frequency.
8. A method of multiple target detection based on frequency modulated continuous wave radar as claimed in claim 7 wherein the distance R between the radar and the target is determined by:
Figure FDA0002974699030000035
where f is the final target intermediate frequency signal.
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