CN113359196A - Multi-target vital sign detection method based on subspace method and DBF - Google Patents

Multi-target vital sign detection method based on subspace method and DBF Download PDF

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CN113359196A
CN113359196A CN202110576344.7A CN202110576344A CN113359196A CN 113359196 A CN113359196 A CN 113359196A CN 202110576344 A CN202110576344 A CN 202110576344A CN 113359196 A CN113359196 A CN 113359196A
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李予琛
施尘玥
叶炀涛
吴可
金晶
顾昌展
毛军发
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Shanghai Jiaotong University
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Abstract

A multi-target vital sign detection method based on a subspace method and a DBF (direct binary frequency) method is characterized in that a subspace method is utilized to carry out preliminary screening and positioning on a three-dimensional space in a whole room, and a candidate target signal subspace is extracted; and carrying out digital beam forming and weighting on the angles in the candidate target signal subspace by using a DBF (direct Beam forming) method, and further judging specific target accurate position information through the amplitude. The invention utilizes the subspace algorithm to get rid of the defects that the existing digital beam forming is easily interfered by external signals, has low signal-to-noise ratio and poor imaging effect and depends on large array scale, realizes the indoor high-precision multi-target life body positioning, and further carries out the further life body detection on the position of a target.

Description

Multi-target vital sign detection method based on subspace method and DBF
Technical Field
The invention relates to a technology in the field of digital beam forming, in particular to a multi-target vital sign detection method based on digital beam forming and a subspace method by utilizing an MIMO radar.
Background
Digital Beamforming (DBF) refers to controlling the amplitude and phase of a signal received by each antenna in a Digital domain for an antenna array, so as to achieve the effect that the whole array forms lobes in a certain direction, and is a common method for multi-target multi-angle resolution of MIMO radar. However, when the method is applied to indoor multi-target vital sign monitoring, signals received by the radar not only include echoes of the transmitted signals, but also various scattered echoes, stray echoes, spatial noise, interference signals and the like of the transmitted signals. Therefore, the angular position information of the target vital body cannot be obtained accurately by simply using the phase difference between the receiving array units, so that high-precision spatial positioning and further vital sign monitoring cannot be completed. The subspace method is used as an analysis method for incoming wave angle estimation, can provide super-resolution, but has the problems that only one dimension can be solved, and the limitation of the physical aperture of an array is received.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multi-target vital sign detection method based on a subspace method and a DBF (direct binary frequency) method, which utilizes a subspace algorithm to get rid of the defects that the existing digital beam forming is easily interfered by external signals, has low signal-to-noise ratio and poor imaging effect and depends on large array scale, realizes indoor high-precision multi-target vital body positioning, and further carries out further vital sign detection on the existing position of a target.
The invention is realized by the following technical scheme:
the invention relates to a multi-target vital sign detection method based on a subspace method and a DBF (direct binary frequency) method, which is characterized in that a subspace method is utilized to carry out preliminary screening and positioning on a three-dimensional space in a whole room, and a candidate target signal subspace is extracted; and carrying out digital beam forming and weighting on the angles in the candidate target signal subspace by using a DBF (direct Beam forming) method, and further judging specific target accurate position information through the amplitude.
The subspace method is as follows: respectively storing signals in a horizontal plane and a vertical plane, and respectively carrying out subspace method-ESPRIT estimation on the signals obtained by the two planes so as to respectively obtain incoming wave angle direction subspaces in the two planes.
The preliminary screening and positioning means that: judging the incoming wave angle direction subspaces respectively established in the two planes, selecting the angles existing in the two incoming wave angle direction subspaces in the overall observation space as the targets for processing next, carrying out zero setting processing on signals in other directions, enabling the matrix after zero setting not to participate in operation in the later DBF, and keeping black and not giving colors in the imaging process.
The DBF method refers to the following steps: sub-spaces of candidate target signals
Figure BDA0003084479720000021
The signal that same horizontal/vertical plane direction receiving array element obtained multiplies with direction vector, and direction vector is the phase difference matrix that produces when adjacent array element received the parallel incident electromagnetic wave, through the phase difference that compensates each receiving array element and corresponds to reach the effect at direction vector target direction beam shaping, wherein: theta and
Figure BDA0003084479720000022
in azimuth in the horizontal and vertical planes respectively,
Figure BDA0003084479720000023
is a signal subspace in the horizontal plane,
Figure BDA0003084479720000024
is the signal subspace in the vertical plane.
Technical effects
The invention integrally solves the defects that the existing MIMO radar can not obtain high-precision positioning information for indoor multi-target vital sign detection and is easy to be interfered by surrounding clutter to cause inaccurate positioning; compared with the prior art, the novel technical means disclosed by the invention comprises the following steps: the method comprises the steps of utilizing a subspace method to estimate incoming wave angle directions in a horizontal plane and a vertical plane respectively, multiplying the two signal subspaces to obtain a candidate target signal subspace, and then conducting DBF beam forming and judgment on angles in the candidate target signal subspace only to obtain positioning of a target in a three-dimensional space. Compared with the existing DBF-based spatial imaging algorithm, the efficiency and the operation speed of the DBF-based spatial imaging algorithm are improved by more than 100 times.
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FIG. 1 is a schematic diagram of the system of the present invention;
fig. 2 is a flow chart of digital beamforming;
FIG. 3 is a diagram of a multi-target discrimination simulation result based on the DFB method;
FIG. 4 is a subspace approach-ESPRIT flow diagram of the present invention;
FIG. 5 is a schematic diagram of a multi-objective resolved slice based on subspace method and DBF;
FIG. 6 is a graph comparing the operation rates of a DBF method according to the present invention and a DBF method according to the prior art;
Detailed Description
As shown in fig. 1, the multi-objective vital sign detection system based on subspace method and DBF according to this embodiment includes: MIMO radar antenna receiving and dispatching unit, sawtooth wave signal generation unit, frequency multiplier, power amplification unit, baseband signal processing unit, digital-to-analog conversion unit and rear end signal processing unit, wherein: the sawtooth wave generated by the sawtooth wave signal generator is transmitted through the MIMO radar antenna receiving and transmitting unit after passing through the frequency multiplier and the power amplifying unit; the transmitted electromagnetic waves are received by the MIMO radar antenna receiving and transmitting unit after being reflected by an object, the received signals are subjected to low-noise amplification and frequency mixing processing sequentially through the baseband signal processing unit to obtain intermediate-frequency signals, the digital-to-analog conversion unit is used for filtering and ADC sampling the intermediate-frequency signals sequentially, the rear-end signal processing unit is used for performing subspace method-ESPRIT estimation on the sampled signals, namely, after space signals are extracted through a subspace method and candidate target signal subspaces are established, digital beam forming and verification judgment are performed on the angle directions in the candidate target signal subspaces, and multi-target vital sign detection is achieved.
As shown in fig. 2, the Digital Beam Forming (DBF) refers to: and weighting and summing the angle directions of the signals received by the array unit in the candidate target signal subspace to achieve the effect that the array forms a specific beam in the designated direction. All the processing of digital beam forming is digital processing after data sampling, and the operation speed and the adjustment precision are better.
As shown in fig. 4, the receiving array in the MIMO radar antenna transceiver unit includes N units, where the received signal of the ith unit is xi(t) weighting w for the i-th element received signaliThen finally the DBF output of the entire array is: s (t) ═ WTX (t), wherein W ═ W1，w2，...，wN]In the form of a matrix of weight vectors, the received signal of the array is x (t) ═ x1(t)，x2(t)，...，xN(t)]When the k-th weight vector takes the value of wi＝ejkπsinθThe output of the entire array is equivalent to forming a main lobe in the theta direction.
In that
Figure BDA0003084479720000031
The weight value required for angle estimation is
Figure BDA0003084479720000032
Obtaining a distance spectrum function of a three-dimensional space:
Figure BDA0003084479720000033
Figure BDA0003084479720000034
the three reflecting points are simulated and arranged in space by MATLAB, the positions of the three reflecting points are respectively positioned at 60 degrees,
Figure BDA0003084479720000035
Figure BDA0003084479720000036
R＝0.5m，θ＝-30°，
Figure BDA0003084479720000037
r1.0 m and θ 0 °,
Figure BDA0003084479720000038
r is 2.0 m.
As shown in fig. 3, are simulated images at 0.5m, 1m and 2m from the radar. The DBF-based 3D imaging simulation image is displayed in the form of a slice heat image, space spectrum images at different positions away from a radar are respectively selected, the abscissa is an angle theta, and the ordinate is an angle theta
Figure BDA0003084479720000039
The two angle ranges are-180 degrees. The light spot is a semi-spherical surface in nature, the larger the distance spectrum is, the brighter the color is, and the spot forming position indicates the existence of the target reflection point.
As shown in fig. 4, the subspace approach — ESPRIT method of the present embodiment specifically includes the following steps:
step 1, at θ and
Figure BDA00030844797200000310
in two planes, TLS-ESPRIT is respectively utilized to obtain the incoming wave direction in the plane, and the specific steps are as follows: first to Mth array elements of an antenna array0-1 array element being a first sub-array, a second array element to an Mth array element0The array element is a second sub-array, the received signals of the two sub-arrays are respectively X (t), Y (t), and then the two sub-arrays only differ by a rotation factor B, when B ═ diag [ v ], (t)1，v2，...，vK]Wherein
Figure BDA00030844797200000311
And calculating autocorrelation and cross-correlation matrixes of the two sub-arrays to obtain a B singular value corresponding to the rotation factor as follows:
Figure BDA00030844797200000312
γkis the k-th singular value. The signal subspace expression in the horizontal plane is then:
Figure BDA00030844797200000313
the expression of the signal subspace in the vertical plane can be obtained by the same method as
Figure BDA00030844797200000314
Step 2, according to the incoming wave direction, each theta is summed
Figure BDA00030844797200000315
Combined, forming a directional angular space. When there are K incoming wave signals, the number of elements in the direction angle space is K x K, and the specific steps are as follows: formed direction angle space
Figure BDA00030844797200000316
Figure BDA00030844797200000317
Wherein: theta and
Figure BDA00030844797200000318
in azimuth in the horizontal and vertical planes respectively,
Figure BDA00030844797200000319
is a signal subspace in the horizontal plane,
Figure BDA00030844797200000320
is the signal subspace in the vertical plane.
Step 3, only combining each angle in the space
Figure BDA00030844797200000321
Performing digital beam forming, calculating a distance spectrum and setting other angles to zero, and specifically comprising the following steps:
Figure BDA00030844797200000322
and 4, finally forming 3D imaging and multi-target resolution, and specifically comprising the following steps: when the space imaging at the distance of m meters is required, the spherical coordinate imaging graph at the distance is
Figure BDA00030844797200000323
As shown in fig. 5, which is a slice of the simulation result of the present embodiment, the positions of three living bodies in space in the slice can be obviously obtained. When higher detection precision is obtained, the traversal process of each point in the space by the existing beam forming method is replaced by the establishment of the signal subspace, and the running speed is greatly improved. FIG. 6 is a comparison of the operating speeds of the present method and the prior art, and it can be seen that the operating speeds obtained by the present method are all increased by more than 100 times.
Therefore, the three-dimensional positioning and detection of the multi-target life body in the indoor space can be obtained. For the spatial direction with a living body, further vital sign detection can be carried out in the direction with the living body, such as respiration and heartbeat of a human body, through a phase shifter and beam forming, and after Fourier transformation is carried out according to a reflected echo, a peak point on a frequency spectrum is the frequency corresponding to the respiration and the heartbeat.
Compared with the prior art, the three-dimensional space multi-target resolution method based on the DBF and the subspace method (LS-ESPRIT) greatly improves the actual operation time and efficiency due to the fact that the beam forming process of all parameter points in the space is omitted. Compared with the existing DBF multi-target detection method, the method has the advantages that the time comparison required by the same target simulation method is completed on the same computer and the same operation platform. The LS-ESPRIT-based three-dimensional space multi-target resolution method provided by the invention has shorter operation time than the existing DBF-based 3D space imaging under various calculation accuracies. The velocity improvement is about 90 times when the angular resolution of the spatial estimation is 1 °, about 115 times when the angular resolution of the spatial estimation is 0.1 °, and the higher the required angular resolution of the spatial estimation, the greater the velocity improvement of a method according to the present invention.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (7)

1. A multi-target vital sign detection method based on a subspace method and a DBF is characterized in that a subspace method is used for carrying out preliminary screening and positioning on a three-dimensional space in a whole room, and a candidate target signal subspace is extracted; and carrying out digital beam forming and weighting on the angles in the candidate target signal subspace by using a DBF (direct Beam forming) method, and further judging specific target accurate position information through the amplitude.
2. The multi-target vital sign detection method based on the subspace method and the DBF according to claim 1, wherein the subspace method is: respectively storing signals in a horizontal plane and a vertical plane, and respectively carrying out subspace method-ESPRIT estimation on the signals obtained by the two planes so as to respectively obtain incoming wave angle direction subspaces in the two planes.
3. The multi-target vital sign detection method based on the subspace method and the DBF according to claim 1, wherein the preliminary screening and localization includes: judging the incoming wave angle direction subspaces respectively established in the two planes, selecting the angles existing in the two incoming wave angle direction subspaces in the overall observation space as the targets for processing next, carrying out zero setting processing on signals in other directions, enabling the matrix after zero setting not to participate in operation in the later DBF, and keeping black and not giving colors in the imaging process.
4. The multi-target vital sign detection method based on the subspace method and the DBF according to claim 1, wherein the DBF method is characterized in that: sub-spaces of candidate target signals
Figure FDA0003084479710000011
The signal that same horizontal/vertical direction receiving array element obtained multiplies with direction vector, and direction vector is the phase difference matrix that produces when adjacent array element received the parallel incident electromagnetic wave, through the phase difference that compensates each receiving array element and corresponds to reach the effect at direction vector target direction beam forming, wherein: theta and
Figure FDA0003084479710000012
in azimuth in the horizontal and vertical planes respectively,
Figure FDA0003084479710000013
is a signal subspace in the horizontal plane,
Figure FDA0003084479710000014
is the signal subspace in the vertical plane.
5. A multi-objective sub-spatial and DBF-based vital sign detection system for implementing the method of any one of claims 1-4, comprising: MIMO radar antenna receiving and dispatching unit, sawtooth wave signal generation unit, frequency multiplier, power amplification unit, baseband signal processing unit, digital-to-analog conversion unit and rear end signal processing unit, wherein: the sawtooth wave generated by the sawtooth wave signal generator is transmitted through the MIMO radar antenna receiving and transmitting unit after passing through the frequency multiplier and the power amplifying unit; the transmitted electromagnetic waves are received by the MIMO radar antenna receiving and transmitting unit after being reflected by an object, the received signals are subjected to low-noise amplification and frequency mixing processing sequentially through the baseband signal processing unit to obtain intermediate-frequency signals, the digital-to-analog conversion unit is used for filtering and ADC sampling the intermediate-frequency signals sequentially, the rear-end signal processing unit is used for performing subspace method-ESPRIT estimation on the sampled signals, namely, after space signals are extracted through a subspace method and candidate target signal subspaces are established, digital beam forming and verification judgment are performed on the angle directions in the candidate target signal subspaces, and multi-target vital sign detection is achieved.
6. The multi-target vital sign detection system based on the subspace method and the DBF according to claim 1, wherein a receiving array in the MIMO radar antenna transceiver unit comprises N units, wherein a received signal of an ith unit is xi(t) weighting w for the i-th element received signaliThen finally the DBF output of the entire array is: st ═ WTXt, wherein W ═ W1，w2，...，wN]In the form of a matrix of weight vectors, the received signal of the array is Xt ═ x1t，x2t，...，xN(t)]When the k-th weight vector takes the value of wi＝ejkπsinθThe output of the entire array is equivalent to forming a main lobe in the theta direction.
7. The multi-target vital sign detection system according to claim 5 or 6, wherein the subspace approach-ESPRIT estimation specifically comprises:
step 1, at θ and
Figure FDA00030844797100000213
in two planes, TLS-ESPRIT is respectively utilized to obtain the incoming wave direction in the plane, and the specific steps are as follows: first to Mth array elements of an antenna array0-1 array element being a first sub-array, a second array element to an Mth array element0The array element is the second sub-array, the receiving signals of the two sub-arrays are Xt, Y (t), the two sub-arrays only differ by a rotation factor B, when B is diag [ v (t) ]1，v2，...，vK]Wherein
Figure FDA00030844797100000211
And i is 1, 2, and K, and calculating an autocorrelation matrix and a cross-correlation matrix of the two sub-arrays to obtain a singular value B corresponding to the rotation factor as:
Figure FDA00030844797100000212
k＝1，2，...，K，γkis the k-th singular value; the signal subspace expression in the horizontal plane is then:
Figure FDA0003084479710000021
the expression of the signal subspace in the vertical plane can be obtained by the same method as
Figure FDA0003084479710000022
Step 2, according to the incoming wave direction, each theta is summed
Figure FDA00030844797100000214
Combined, forming a directional angular space; when there are K incoming wave signals, the number of elements in the direction angle space is K x K, and the specific steps are as follows: formed direction angle space
Figure FDA0003084479710000023
Figure FDA0003084479710000024
Wherein: theta and
Figure FDA0003084479710000025
in azimuth in the horizontal and vertical planes respectively,
Figure FDA0003084479710000026
is a signal subspace in the horizontal plane,
Figure FDA0003084479710000027
is a signal subspace in a vertical plane;
step 3, only for the spaceEach angle combination
Figure FDA0003084479710000028
Performing digital beam forming, calculating a distance spectrum and setting other angles to zero, and specifically comprising the following steps:
Figure FDA0003084479710000029
and 4, finally forming 3D imaging and multi-target resolution, and specifically comprising the following steps: when the space imaging at the distance of m meters is required, the spherical coordinate imaging graph at the distance is
Figure FDA00030844797100000210
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