CN114594465A - MIMO radar channel separation method and device and MIMO radar - Google Patents

MIMO radar channel separation method and device and MIMO radar Download PDF

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Publication number
CN114594465A
CN114594465A CN202210138825.4A CN202210138825A CN114594465A CN 114594465 A CN114594465 A CN 114594465A CN 202210138825 A CN202210138825 A CN 202210138825A CN 114594465 A CN114594465 A CN 114594465A
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transmitting
transmission
antennas
value
signal parameter
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王晨红
邢寒露
樊志博
袁亚运
秦屹
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Whst Co Ltd
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Whst Co Ltd
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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
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/282—Transmitters
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • 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
    • G01S7/35—Details of non-pulse systems
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a channel separation method and device of an MIMO radar and the MIMO radar. The MIMO radar comprises M transmitting antennas and N receiving antennas, and the method comprises the following steps: acquiring mutually different transmission signal parameter values corresponding to each transmission antenna in M transmission antennas and echo signals received by each receiving antenna; processing echo signals received by the N receiving antennas to obtain range-Doppler data; extracting all peak values in the range-Doppler data, and taking each peak value as channel data; and determining the transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value. The method determines the transmitting antenna corresponding to each channel data, namely realizes the channel separation of the DDMA-mode MIMO radar, and further can measure the angle of the detection target based on the DDMA-MIMO radar.

Description

MIMO radar channel separation method and device and MIMO radar
Technical Field
The invention relates to the technical field of MIMO radars, in particular to a channel separation method and device of an MIMO radar and the MIMO radar.
Background
A Multiple-input Multiple-output (MIMO) radar is a radar that uses Multiple antennas at both the transmitter and receiver ends for transmitting and receiving signals. The channel separation of the MIMO radar means that, assuming that the MIMO radar includes M transmitting antennas and N receiving antennas, an echo signal received by each receiving antenna is virtualized into M channel data, and is virtualized into mxn channel data, and a correspondence relationship between each channel data and the transmitting antennas is determined. After the channel separation is carried out on the echo signals received by the receiving antenna in the MIMO radar, the MXN channel data can be reasonably sequenced according to the result of the channel separation, and the angle of the detection target is determined according to the sequenced channel data.
In the MIMO radar technology field, signals can be transmitted and received in a transmission and reception diversity mode such as Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Doppler Division Multiple Access (DDMA), and the like. Generally, TDMA-MIMO radar can alternately transmit at different times from each other through a plurality of transmit antennas, with channel separation based on time orthogonality. FDMA-MIMO radar can transmit alternately in different frequency bands through multiple transmitting antennas simultaneously, and channel separation is carried out based on frequency band orthogonality. For the DDMA-MIMO radar, it aims to transmit simultaneously through multiple transmit antennas, and channel separation is achieved based on orthogonality of the doppler domain, but there is no reliable and effective solution how to determine the transmit antenna corresponding to each channel data based on orthogonality of the doppler domain. Therefore, how to accurately realize channel separation for the DDMA mode MIMO radar is an urgent problem to be solved based on the DDMA-MIMO radar to measure the angle of the detection target.
Disclosure of Invention
The embodiment of the invention provides a channel separation method and device of an MIMO radar and the MIMO radar, and aims to solve the problem that the existing DDMA mode MIMO radar cannot realize channel separation.
In a first aspect, an embodiment of the present invention provides a channel separation method for a MIMO radar, where the MIMO radar includes M transmit antennas and N receive antennas, where M and N are both positive integers greater than 1, and the channel separation method includes:
acquiring a transmission signal parameter value corresponding to each transmission antenna in M transmission antennas and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals simultaneously, and the transmission signal parameter values of the detection signals corresponding to each transmission antenna in the M transmission antennas are different;
processing the echo signals received by the N receiving antennas to obtain range-Doppler data;
extracting all peak values in the range-Doppler data, and taking each peak value as channel data;
and determining a transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value.
In a possible implementation manner, the determining, according to the peak value and the transmission signal parameter value, a transmission antenna corresponding to each channel data includes:
determining a transmission signal parameter value corresponding to each peak value according to the peak values and the transmission signal parameter values;
and determining the transmitting antenna corresponding to each channel data according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna.
In a possible implementation manner, the determining, according to the peak values and the transmission signal parameter values, a transmission signal parameter value corresponding to each peak value includes:
sorting the peak values and the transmission signal parameter values according to the same preset sequence respectively to obtain a first sequence after sorting the peak values and a second sequence after sorting the transmission signal parameter values;
and determining the transmission signal parameter value corresponding to the peak value at any position in the first sequence as the transmission signal parameter value corresponding to the same position in the second sequence.
In one possible implementation, the transmission signal parameter values include: a transmit signal amplitude value or a transmit signal power value;
when the transmission signal parameter value is the transmission signal power value, the obtaining of the transmission signal parameter value corresponding to each transmission antenna includes:
acquiring a transmission signal amplitude value of a detection signal corresponding to each transmission antenna;
and calculating the square of the amplitude value of the transmission signal to obtain the power value of the transmission signal corresponding to each transmission antenna.
In one possible implementation, the transmission signal parameter values include: normalizing the power value of the transmitted signal;
the obtaining of the transmission signal parameter value corresponding to each transmission antenna includes:
acquiring a transmission signal power value of a detection signal corresponding to each transmission antenna;
comparing the transmitting signal power values of the detection signals corresponding to all the transmitting antennas to determine the maximum transmitting signal power value in all the transmitting antennas;
and calculating the ratio of each transmitting signal power value to the maximum value of the transmitting signal power in sequence to obtain the transmitting signal normalized power value corresponding to each transmitting antenna.
In a possible implementation manner, the processing echo signals received by the N receiving antennas to obtain range-doppler data includes:
and performing range-Doppler two-dimensional Fourier transform on the echo signal received by each receiving antenna in the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.
In a possible implementation manner, after performing range-doppler two-dimensional fourier transform on an echo signal corresponding to each of N receiving antennas to obtain range-doppler data corresponding to each receiving antenna, the method further includes:
accumulating and summing the amplitude values of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection accumulation;
the extracting all peaks in the range-doppler data, and using each peak as a channel data includes:
and extracting all peak values in the distance-Doppler data after detection and accumulation, and taking each peak value in the distance-Doppler data after detection and accumulation as channel data.
In a second aspect, an embodiment of the present invention provides a channel separation apparatus for a MIMO radar, where the MIMO radar includes M transmit antennas and N receive antennas, where M and N are positive integers greater than 1, and the channel separation apparatus includes:
an obtaining module, configured to obtain a transmission signal parameter value corresponding to each of M transmission antennas and an echo signal received by each receiving antenna, where all the transmission antennas transmit a probe signal simultaneously and the transmission signal parameter values of the probe signal corresponding to each of the M transmission antennas are different;
the first processing module is used for processing the echo signals received by the N receiving antennas to obtain range-Doppler data;
the second processing module is used for extracting all peak values in the range-Doppler data and taking each peak value as channel data;
and the channel separation module is used for determining a transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value.
In a third aspect, an embodiment of the present invention provides a MIMO radar, including a control apparatus, where the control apparatus includes a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and execute the computer program stored in the memory, so as to perform the method according to the first aspect or any possible implementation manner of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method according to the first aspect or any one of the possible implementation manners of the first aspect.
The embodiment of the invention provides a channel separation method and device of an MIMO radar and the MIMO radar, wherein the MIMO radar comprises M transmitting antennas and N receiving antennas, wherein M and N are positive integers larger than 1; and then obtaining different transmitting signal parameter values corresponding to each transmitting antenna in the M transmitting antennas, and determining the transmitting antenna corresponding to each channel data according to the peak values and the transmitting signal parameter values based on the principle that the peak values obtained after the echo signals received by each receiving antenna are processed are the same as the number of the transmitting antennas, namely the number of the channel data. Channel separation of the DDMA mode MIMO radar is realized, and angle measurement can be carried out on a detection target based on the DDMA-MIMO radar.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of an implementation of a channel separation method for a MIMO radar according to an embodiment of the present invention;
figure 2 is a schematic diagram of range-doppler data provided by an embodiment of the present invention;
figure 3 is a schematic diagram of all peaks in range-doppler data provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a channel separation apparatus of a MIMO radar according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a control device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
Referring to fig. 1, it shows a flowchart of an implementation of a channel separation method for a MIMO radar provided in an embodiment of the present invention, where the MIMO radar includes M transmit antennas and N receive antennas, where M and N are both positive integers greater than 1, and the channel separation method for the MIMO radar is detailed as follows:
in step 101, a transmission signal parameter value corresponding to each of M transmission antennas and an echo signal received by each receiving antenna are obtained.
All the transmitting antennas transmit the detection signals simultaneously, and the transmitting signal parameter values of the detection signals corresponding to each transmitting antenna in the M transmitting antennas are different.
In this embodiment, the number of all the transmitting antennas in the MIMO radar may be K, where the K transmitting antennas may include a plurality of transmitting antennas known to have a correspondence relationship with channel data and M transmitting antennas unknown to have a correspondence relationship with channel data, M is not greater than K, and K is a positive integer greater than 1. The MIMO radar includes M transmitting antennas that are not determined to have a corresponding relationship with channel data, and also includes N receiving antennas, that is, after each receiving antenna in the N receiving antennas receives an echo signal, M channel data can be obtained virtually through processing, M × N channel data can be obtained virtually by the N receiving antennas, and it is necessary to determine a corresponding relationship between each channel data in the M × N channel data and each transmitting antenna in the M transmitting antennas to perform channel separation.
The transmission signal parameter values are values of transmission signal parameters corresponding to the probe signals transmitted by each transmission antenna, and for a plurality of transmission antennas for which the correspondence relationship with the channel data is known, the transmission signal parameter values of the probe signals corresponding to the plurality of transmission antennas may be the same or different. For the other M transmitting antennas, in order to utilize the inequality of the transmitting signal parameter value of the detection signal corresponding to each transmitting antenna, the channel data obtained virtually after the echo signal received by the receiving antenna is processed is also inequality, and further subsequent channel separation is performed, the transmitting signal parameter value of the detection signal corresponding to each transmitting antenna in the M transmitting antennas needs to be different from each other.
For example, assuming that the MIMO radar includes 4 transmitting antennas, where the correspondence relationship between the transmitting antenna Tx1 and the transmitting antenna Tx2 and the channel data is known, and the correspondence relationship between the transmitting antenna Tx3 and the transmitting antenna Tx4 and the channel data is unknown, the transmitting signal parameter value of the sounding signal corresponding to the transmitting antenna Tx1 and the transmitting signal parameter value of the sounding signal corresponding to the transmitting antenna Tx2 may be the same or different, and the transmitting signal parameter value of the sounding signal corresponding to the transmitting antenna Tx3 and the transmitting signal parameter value of the sounding signal corresponding to the transmitting antenna Tx4 need to be different.
Alternatively, the transmission signal parameter value may be any one of a transmission signal amplitude value, a transmission signal power value, and a transmission signal normalized power value.
And when the transmission signal parameter value is a transmission signal amplitude value, acquiring the transmission signal parameter value corresponding to each transmission antenna, namely directly acquiring the transmission signal amplitude value of the detection signal corresponding to each transmission antenna.
When the transmission signal parameter value is the transmission signal power value, obtaining the transmission signal parameter value corresponding to each transmission antenna may include: and acquiring a transmission signal amplitude value of the detection signal corresponding to each transmission antenna, calculating the square of the transmission signal amplitude value, and acquiring a transmission signal power value corresponding to each transmission antenna.
When the transmission signal parameter value is the normalized power value of the transmission signal, acquiring the transmission signal parameter value corresponding to each transmission antenna may include: acquiring a transmission signal power value of a detection signal corresponding to each transmission antenna; comparing the transmitting signal power values of the detection signals corresponding to all the transmitting antennas to determine the maximum transmitting signal power value in all the transmitting antennas; and calculating the ratio of each transmitting signal power value to the maximum value of the transmitting signal power in sequence to obtain the transmitting signal normalized power value corresponding to each transmitting antenna.
Whether the transmission signal parameter value is a transmission signal amplitude value, a transmission signal power value or a transmission signal normalization power value, the transmission signal parameter value is different based on the detection signal corresponding to the transmitting antenna, channel data obtained virtually after the echo signal received by the receiving antenna is processed are also different, and subsequent channel separation is carried out.
When the transmission signal parameter value is a transmission signal amplitude value, acquiring different transmission signal amplitude values of the detection signal corresponding to each transmission antenna, and virtually obtaining channel data corresponding to the transmission signal amplitude value after processing the echo signal received by each receiving antenna, so that the corresponding relation between each channel data and the transmission antenna can be determined, and the channel separation of the MIMO radar in the DDMA mode can be realized.
When the transmission signal parameter value is the transmission signal power value, because the transmission signal power value is the square of the transmission signal amplitude value, the transmission signal amplitude values of the detection signals corresponding to each transmission antenna in the MIMO radar can be set to be different, so that the transmission signal power values of the detection signals corresponding to each transmission antenna are different, and the transmission signal power values of the detection signals corresponding to each transmission antenna in the MIMO radar can also be directly set to be different. The corresponding relation between each channel data in the receiving antenna and the transmitting antenna can be more accurately determined based on the transmitting signal power value.
When the transmission signal amplitude value or the transmission signal power value of the detection signal corresponding to each transmission antenna is set, the sequence may be sequentially from large to small, from small to large, or randomly disordered.
When the transmission signal parameter value is the transmission signal normalization power value, the transmission signal power value can be directly or indirectly acquired, and then the transmission signal power value is further processed to obtain the transmission signal normalization power value corresponding to each transmission antenna. The corresponding relation between each channel data and the transmitting antenna can be more accurately and conveniently determined based on the normalized power value of the transmitting signal.
Illustratively, assume that a DDMA-MIMO radar includes 3 transmit antennas and 4 receive antennas. At a certain moment, 3 transmitting antennas work simultaneously, and the transmitted signals are respectively A1 Sig1, A2 Sig2 and A3 Sig 3. A1-A3 are emission signal amplitude values of detection signals emitted by 3 emission antennas, and Sig 1-Sig 3 are emission signal forms of the detection signals emitted by the 3 emission antennas.
On the basis, the transmission signal power values P1-P3 of the detection signals transmitted by the 3 transmission antennas can be obtained through P1 ═ A1^2, P2 ═ A2^2 and P3 ^ A3^ 2.
On this basis, the maximum value of the transmission signal power in the 3 transmission antennas can be determined by Pmax ═ max (P1, P2, P3), and then normalized calculation is performed, then:
the normalized power value Nor _ P1 of the transmission signal from the transmitting antenna Tx1 is P1/Pmax.
The normalized power value Nor _ P2 of the transmission signal from the transmitting antenna Tx2 is P2/Pmax.
The normalized power value Nor _ P3 of the transmission signal from the transmitting antenna Tx3 is P3/Pmax.
In step 102, echo signals received by the N receiving antennas are processed to obtain range-doppler data.
Optionally, processing the echo signals received by the N receiving antennas to obtain range-doppler data may include:
and performing range-Doppler two-dimensional Fourier transform on the echo signal received by each receiving antenna in the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.
For example, after the DDMA-MIMO radar receives the echo signal through multiple receiving antennas, each receiving antenna may perform Range-Doppler two-dimensional fourier transform on the echo signal, where the number of Range-dimensional FFT points is N1, and the number of Doppler-dimensional FFT points is N2, so as to obtain a fast-time-slow-time Range-Doppler spectrum distribution, also called Range-Doppler Map (RD _ Map), as shown in fig. 2. For example, for 4 receive antennas, the amount of RD _ MAP data for each receive antenna is N1 × N2, and the total amount of data is N1 × N2 × 4.
In step 103, all peaks in the range-doppler data are extracted, and each peak is taken as a channel data.
In the application context of the DDMA-MIMO radar of this embodiment, under the influence of doppler modulation, the number of peaks in RD _ MAP obtained by processing an echo signal received by a certain receiving antenna is the same as the number of transmitting antennas in the MIMO radar, that is, for any receiving antenna in the MIMO radar, a detection signal transmitted by each transmitting antenna is reflected by a detection target (i.e., an echo signal received by a receiving antenna) and then corresponds to a peak in RD _ MAP, so that each peak in RD _ MAP is a channel data. And the transmitting signal parameter values of the detection signals corresponding to the transmitting antennas are different, and the channel data, namely the corresponding peak values in the RD _ MAP are also different. Therefore, after the receiving antenna receives the echo signal, the echo signal is processed to obtain the RD _ MAP, and all peak values in the RD _ MAP are extracted and can be used for subsequently determining the corresponding relation between each channel data and the transmitting antenna. Determining the corresponding relation between each channel data and the transmitting antenna, namely, realizing the channel separation of the MIMO radar in the DDMA mode, further reasonably sequencing each channel data (namely, each peak value in the RD _ MAP corresponding to each receiving antenna) according to the result of the channel separation, and determining the angle of the detected target according to the sequenced channel data.
For example, under certain doppler modulation, 3 transmitting antennas of the MIMO radar transmit sounding signals simultaneously, as shown in fig. 3, 3 peaks exist in RD _ MAP of an echo signal reflected by a detection target received by a certain receiving antenna, that is, there are 3 channel data, and it is necessary to determine the transmitting antennas corresponding to the 3 channel data respectively.
Optionally, after performing range-doppler two-dimensional fourier transform on the echo signal received by each receiving antenna of the N receiving antennas to obtain range-doppler data corresponding to each receiving antenna, the method may further include:
and accumulating and summing the amplitude values of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection and accumulation.
Correspondingly, extracting all peaks in the range-doppler data, and regarding each peak as a channel data, may include:
all peak values in the detected and accumulated range-doppler data are extracted, and each peak value in the detected and accumulated range-doppler data is used as one channel data.
For example, the RD _ MAPs of the 4 receiving antennas may be detected and accumulated, that is, the amplitudes of the RD _ MAPs are calculated, and the amplitudes of the 4 receiving RD _ MAPs are accumulated, summed and accumulated to obtain the detected and accumulated RD _ MAPs.
In the embodiment, through detection accumulation, the signal-to-noise ratio of the echo signal received by the receiving antenna can be improved, and the influence of noise is reduced, so that the detection performance of the MIMO radar in the DDMA mode on the detection target is improved in a complex environment.
Optionally, extracting all peaks in the range-doppler data may include: and carrying out constant false alarm target detection on the range-Doppler data, and extracting all peak values in a detection result.
Among them, in RD _ MAP of each receiving antenna, or in RD _ MAP after detection and accumulation, can be carried outConstant deficiency PoliceTarget False Alarm Rate (CFAR) to obtain all peaks in the detection result. The CFAR target detection method can be CA-CFAR, SO-CFAR, GO-CFAR and the like, and the idea is to judge whether a target exists in each range Doppler unit of RD-MAP in a sliding window manner.
In this embodiment, a better performance can be obtained by extracting all peak values in the range-doppler data by a CFAR target detection method.
In step 104, the transmitting antenna corresponding to each channel data is determined according to the peak value and the transmitting signal parameter value.
Optionally, determining a transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value may include:
and determining the transmission signal parameter value corresponding to each peak value according to the peak values and the transmission signal parameter values.
And determining the transmitting antenna corresponding to each channel data according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna.
In this embodiment, if the transmission signal parameter value of the probe signal corresponding to the transmitting antenna is large, the peak value obtained after processing the echo signal received by the receiving antenna is also large, and if the transmission signal parameter value of the probe signal corresponding to the transmitting antenna is small, the peak value obtained after processing the echo signal received by the receiving antenna is also small. Therefore, according to this principle, the transmission signal parameter value corresponding to each peak value can be determined, and each transmission signal parameter value corresponds to one transmission antenna, so that the corresponding relationship between each peak value, that is, each channel data and the transmission antenna can be determined.
Optionally, determining a transmission signal parameter value corresponding to each peak according to the peak value and the transmission signal parameter value may include:
and sequencing the peak values and the transmission signal parameter values according to the same preset sequence respectively to obtain a first sequence after the peak values are sequenced and a second sequence after the transmission signal parameter values are sequenced.
And determining the transmission signal parameter value corresponding to the peak value at any position in the first sequence as the transmission signal parameter value corresponding to the same position in the second sequence.
In this embodiment, the transmission signal parameter value corresponding to each peak is determined by a method of sorting the peak values and the transmission signal parameter values respectively.
The preset sequence may be a sequence from large to small, a sequence from small to large, or another random sequence, and the preset sequence is not limited in this embodiment.
In addition to the above embodiments, the process of determining the transmission signal parameter value corresponding to each peak value may also adopt other manners, as long as the determination result is that a large peak value corresponds to a large transmission signal parameter value, and a small peak value corresponds to a small transmission signal parameter value.
For example, the process of determining the value of the transmission signal parameter corresponding to each peak may be: selecting the maximum value of the peak values and the maximum value of the transmission signal parameter values, corresponding the maximum peak value to the maximum transmission signal parameter value, then selecting the maximum value of the remaining peak values and the maximum value of the remaining transmission signal parameter values, corresponding the maximum peak value of the remaining peak values to the maximum transmission signal parameter value of the remaining transmission signal parameter values … …, and so on until determining the transmission signal parameter value corresponding to each peak value.
The channel separation method of the MIMO radar is further described below with reference to specific embodiments.
Exemplarily, it is assumed that there are 3 transmitting antennas Tx1, Tx2, Tx3 in the MIMO radar, and normalized power values of the transmitting signals of the sounding signals transmitted by the 3 transmitting antennas Tx1, Tx2, Tx3 are [1, 0.7, 0.8], respectively, and the corresponding relationship between the 3 transmitting antennas Tx1, Tx2, Tx3 and the channel data is unknown. The amplitudes of 3 peak values after the RD _ MAP of a certain receiving antenna is subjected to CFAR target detection are respectively [50dB, 40dB, 30dB ], that is, the 3 channel data of a certain receiving antenna are respectively [50dB, 40dB, 30dB ]. In addition, the 3 peaks are located in the same distance dimension in RD _ MAP and are [10, 50, 90] in the Doppler dimension, respectively. Then, the process of determining the corresponding relationship between the 3 channel data and the transmitting antenna according to the channel separation method of the MIMO radar is as follows:
and pairing one by using the normalized power value of the transmitting signal of each transmitting antenna and the amplitude of each peak value. Specifically, the normalized power values of the transmission signals of each transmission antenna and the amplitudes of each peak value are respectively sequenced, and one-to-one pairing is performed according to the magnitude relation between the normalized power values of the transmission signals and the amplitudes of the Doppler peak values.
The ordering may be from large to small or from small to large.
The normalized power values of the transmission signals of the 3 transmission antennas are respectively 1, 0.8 and 0.7 after being sorted from large to small, the amplitudes of the peak values are respectively 50dB, 40dB and 30dB after being sorted from large to small, and then the corresponding relations between the channel data and the transmission signal parameter values are as follows: 50dB-1, 40dB-0.8, 30dB-0.7, and the corresponding relation between the transmission signal parameter value and the transmitting antenna is as follows: 1-TX1, 0.7-TX2, 0.8-TX3, so the corresponding relationship of channel data to transmit antenna is: 50dB-Tx1, 40dB-Tx3, 30dB-Tx 2.
Besides, the corresponding relationship between the position of the channel data in the RD _ MAP, the channel data and the transmitting antenna can be further determined: 10-50dB-Tx1, 50-40dB-Tx3, 90-30dB-Tx 2. By determining the corresponding relation between each channel data and the transmitting antenna and further determining the corresponding relation between the position of each channel data in the RD _ MAP, the channel data and the transmitting antenna, the channel separation of the MIMO radar in the DDMA mode with low false alarm and high detection can be realized, and the angle of the detection target is further determined based on the result of the channel separation.
In the channel separation method for the MIMO radar provided by the embodiment of the present invention, echo signals received by each receiving antenna are obtained, the echo signals corresponding to N receiving antennas are processed to obtain range-doppler data, then all peak values in the range-doppler data are extracted, and each peak value is used as channel data; and then obtaining different transmitting signal parameter values corresponding to each transmitting antenna in the M transmitting antennas, and determining the transmitting antenna corresponding to each channel data according to the peak values and the transmitting signal parameter values based on the principle that the peak values obtained after the echo signals received by each receiving antenna are processed are the same as the number of the transmitting antennas, namely the number of the channel data. Channel separation of the DDMA mode MIMO radar is realized, and angle measurement can be carried out on a detection target based on the DDMA-MIMO radar.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The following are embodiments of the apparatus of the invention, reference being made to the corresponding method embodiments described above for details which are not described in detail therein.
Fig. 4 is a schematic structural diagram of a channel separation apparatus for MIMO radar according to an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and detailed descriptions are as follows:
as shown in fig. 4, the MIMO radar includes M transmitting antennas and N receiving antennas, where M and N are positive integers greater than 1, and the channel separation apparatus of the MIMO radar includes: an acquisition module 41, a first processing module 42, a second processing module 43 and a channel separation module 44.
An obtaining module 41, configured to obtain a transmission signal parameter value corresponding to each of M transmitting antennas and an echo signal received by each receiving antenna, where all the transmitting antennas transmit a probe signal simultaneously and the transmission signal parameter values of the probe signal corresponding to each of the M transmitting antennas are different;
a first processing module 42, configured to process the echo signals received by the N receiving antennas, so as to obtain range-doppler data;
a second processing module 43, configured to extract all peak values in the range-doppler data, and use each peak value as a channel data;
and a channel separation module 44, configured to determine, according to the peak value and the transmission signal parameter value, a transmission antenna corresponding to each channel data.
The channel separation device of the MIMO radar provided by the embodiment of the invention processes the echo signals corresponding to the N receiving antennas by acquiring the echo signal received by each receiving antenna to obtain range-Doppler data, then extracts all peak values in the range-Doppler data, and takes each peak value as channel data; and then obtaining different transmitting signal parameter values corresponding to each transmitting antenna in the M transmitting antennas, and determining the transmitting antenna corresponding to each channel data according to the peak values and the transmitting signal parameter values based on the principle that the peak values obtained after the echo signals are received by each receiving antenna and processed are the same as the number of the transmitting antennas. Channel separation of the DDMA mode MIMO radar is realized, and angle measurement can be carried out on a detection target based on the DDMA-MIMO radar.
In a possible implementation manner, the channel separation module 44 may be configured to determine, according to the peak values and the transmission signal parameter values, a transmission signal parameter value corresponding to each peak value; and determining the transmitting antenna corresponding to each channel data according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna.
In a possible implementation manner, the channel separation module 44 may be configured to sort the peak values and the transmission signal parameter values according to the same preset order, and obtain a first order in which the peak values are sorted and a second order in which the transmission signal parameter values are sorted; and determining the transmission signal parameter value corresponding to the peak value at any position in the first sequence as the transmission signal parameter value corresponding to the same position in the second sequence.
In one possible implementation, the transmission signal parameter values include: a transmit signal amplitude value or a transmit signal power value; when the transmission signal parameter value is the transmission signal power value, the obtaining module 41 may be configured to obtain a transmission signal amplitude value of the detection signal corresponding to each transmission antenna; and calculating the square of the amplitude value of the transmission signal to obtain the power value of the transmission signal corresponding to each transmission antenna.
In one possible implementation, the transmission signal parameter values include: normalizing the power value of the transmitted signal; an obtaining module 41, configured to obtain a transmission signal power value of the detection signal corresponding to each transmitting antenna; comparing the transmitting signal power values of the detection signals corresponding to all the transmitting antennas to determine the maximum transmitting signal power value in all the transmitting antennas; and calculating the ratio of each transmitting signal power value to the maximum value of the transmitting signal power in sequence to obtain the transmitting signal normalized power value corresponding to each transmitting antenna.
In a possible implementation manner, the first processing module 42 may be configured to perform range-doppler two-dimensional fourier transform on the echo signal received by each of the N receiving antennas, and obtain range-doppler data corresponding to each receiving antenna.
In a possible implementation manner, after performing range-doppler two-dimensional fourier transform on an echo signal received by each receiving antenna in N receiving antennas to obtain range-doppler data corresponding to each receiving antenna, the first processing module 42 may be further configured to perform accumulation and summation on amplitudes of the range-doppler data corresponding to all receiving antennas to obtain detected and accumulated range-doppler data; the second processing module 43 may be configured to extract all peaks in the detected and accumulated range-doppler data, and use each peak in the detected and accumulated range-doppler data as a channel data.
Fig. 5 is a schematic diagram of a control device according to an embodiment of the present invention. As shown in fig. 5, the control device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the above-mentioned embodiments of the channel separation method for MIMO radars, for example, steps 101 to 104 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, implements the functions of the modules in the above-described device embodiments, such as the modules 41 to 44 shown in fig. 4.
Illustratively, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 52 in the control device 5. For example, the computer program 52 may be divided into the modules 41 to 44 shown in fig. 4.
The control device 5 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The control device 5 may include, but is not limited to, a processor 50 and a memory 51. It will be understood by those skilled in the art that fig. 5 is only an example of the control device 5, and does not constitute a limitation to the control device 5, and may include more or less components than those shown, or combine some components, or different components, for example, the control device may also include input-output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the control device 5, such as a hard disk or a memory of the control device 5. The memory 51 may also be an external storage device of the control apparatus 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the control apparatus 5. Further, the memory 51 may also include both an internal storage unit of the control apparatus 5 and an external storage device. The memory 51 is used for storing the computer program and other programs and data required by the control device. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/control apparatus and method may be implemented in other ways. For example, the above-described apparatus/control apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the embodiments of the channel separation method for MIMO radar may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims (10)

1. A channel separation method for a MIMO radar, the MIMO radar including M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1, the method comprising:
acquiring a transmission signal parameter value corresponding to each transmission antenna in M transmission antennas and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals simultaneously, and the transmission signal parameter values of the detection signals corresponding to each transmission antenna in the M transmission antennas are different;
processing the echo signals received by the N receiving antennas to obtain range-Doppler data;
extracting all peak values in the range-Doppler data, and taking each peak value as channel data;
and determining a transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value.
2. The method of claim 1, wherein the determining the transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value comprises:
determining a transmission signal parameter value corresponding to each peak value according to the peak values and the transmission signal parameter values;
and determining the transmitting antenna corresponding to each channel data according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna.
3. The method of channel separation for MIMO radar according to claim 2, wherein said determining a transmit signal parameter value corresponding to each peak value from the peak values and the transmit signal parameter values comprises:
sorting the peak values and the transmission signal parameter values according to the same preset sequence respectively to obtain a first sequence after sorting the peak values and a second sequence after sorting the transmission signal parameter values;
and determining the transmission signal parameter value corresponding to the peak value at any position in the first sequence as the transmission signal parameter value corresponding to the same position in the second sequence.
4. The channel separation method for a MIMO radar according to claim 1, wherein the transmission signal parameter values include: a transmit signal amplitude value or a transmit signal power value;
when the transmission signal parameter value is the transmission signal power value, the obtaining of the transmission signal parameter value corresponding to each transmission antenna includes:
acquiring a transmission signal amplitude value of a detection signal corresponding to each transmission antenna;
and calculating the square of the amplitude value of the transmission signal to obtain the power value of the transmission signal corresponding to each transmission antenna.
5. The channel separation method for a MIMO radar of claim 1, wherein the transmission signal parameter value includes: normalizing the power value of the transmitted signal;
the obtaining of the transmission signal parameter value corresponding to each transmission antenna includes:
acquiring a transmission signal power value of a detection signal corresponding to each transmission antenna;
comparing the transmitting signal power values of the detection signals corresponding to all the transmitting antennas to determine the maximum transmitting signal power value in all the transmitting antennas;
and calculating the ratio of each transmitting signal power value to the maximum value of the transmitting signal power in sequence to obtain the transmitting signal normalized power value corresponding to each transmitting antenna.
6. The method for channel separation of a MIMO radar according to any one of claims 1-4, wherein the processing the echo signals received by the N receiving antennas to obtain range-doppler data comprises:
and performing range-Doppler two-dimensional Fourier transform on the echo signal received by each receiving antenna in the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.
7. The method for channel separation of a MIMO radar according to claim 6, wherein after performing range-doppler two-dimensional fourier transform on the echo signal received by each of the N receiving antennas to obtain range-doppler data corresponding to each receiving antenna, the method further comprises:
accumulating and summing the amplitude values of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection accumulation;
the extracting all peaks in the range-doppler data, and using each peak as a channel data includes:
and extracting all peak values in the distance-Doppler data after detection and accumulation, and taking each peak value in the distance-Doppler data after detection and accumulation as channel data.
8. A channel separation apparatus for a MIMO radar including M transmit antennas and N receive antennas, wherein M and N are positive integers greater than 1, comprising:
an obtaining module, configured to obtain a transmission signal parameter value corresponding to each of M transmission antennas and an echo signal received by each receiving antenna, where all the transmission antennas transmit a probe signal simultaneously and the transmission signal parameter values of the probe signal corresponding to each of the M transmission antennas are different;
the first processing module is used for processing the echo signals received by the N receiving antennas to obtain range-Doppler data;
the second processing module is used for extracting all peak values in the range-Doppler data and taking each peak value as channel data;
and the channel separation module is used for determining a transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value.
9. A MIMO radar comprising control means including a memory for storing a computer program and a processor for invoking and running the computer program stored in the memory, to perform the method of any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
CN202210138825.4A 2022-02-15 2022-02-15 MIMO radar channel separation method and device and MIMO radar Pending CN114594465A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117233705A (en) * 2023-09-22 2023-12-15 南京楚航科技有限公司 Three-transmission four-reception method, system and device based on BPSK phase modulation mode

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117233705A (en) * 2023-09-22 2023-12-15 南京楚航科技有限公司 Three-transmission four-reception method, system and device based on BPSK phase modulation mode
CN117233705B (en) * 2023-09-22 2024-04-12 南京楚航科技有限公司 Three-transmission four-reception method, system and device based on BPSK phase modulation mode

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