CN115308703A - High-frequency MIMO radar auxiliary calibration source and calibration method - Google Patents
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Abstract
The invention discloses a high-frequency MIMO radar auxiliary calibration source and a calibration method, which can realize the simultaneous calibration of a transmitting channel and a receiving channel of a high-frequency MIMO radar. After receiving the transmitting signal of the MIMO radar, the auxiliary calibration source converts the transmitting signal into a complex signal by using time delay and Hilbert transformation, generates a modulation complex signal based on the distance and speed information of the radar target to be simulated, and realizes the simulation of the radar target echo signal in a complex signal multiplication form. The radar receiver can utilize the analog echo signal containing the information of the transmitting channel and the receiving channel to simultaneously complete the calibration of the transmitting channel and the receiving channel. The invention not only can calibrate the MIMO radar transmitting channel and the MIMO radar receiving channel at the same time, but also has the advantages of higher distance and speed simulation precision, lower complexity of a hardware circuit and the like.
Description
Technical Field
The invention belongs to the technical field of high-frequency MIMO radars, and particularly relates to a high-frequency MIMO radar auxiliary calibration source and a calibration method.
Background
The high-frequency over-the-horizon radar can detect a flow field, a wave field, a wind field and a sea surface slow-speed moving target on the surface of an ocean in all weather and in a large range, applies a Multiple Input Multiple Output (MIMO) technology to the ground wave radar, can reduce the occupied area of an antenna array while ensuring the detection performance, and has important research significance and engineering application value. In radar data processing, direction Of Arrival estimation (DOA) is an important part, the accuracy Of a DOA algorithm depends on an accurate array model, the amplitude-phase consistency between each transmitting channel and each receiving channel needs to be ensured, and hardware cannot ensure the complete consistency between the channels, so that an external auxiliary information source is often used for providing a calibration basis to finish the channel amplitude-phase error calibration Of a radar transmitting array and a receiving array.
The MIMO radar has the characteristics of multiple sending and multiple receiving, so the auxiliary calibration source needs to provide calibration basis for each transmitting channel and receiving channel of the radar. The traditional auxiliary calibration source mostly adopts a method of directly synthesizing a transmitting signal or delaying forwarding. The method for directly synthesizing the transmitting signal is to use Direct Digital Synthesizer (DDS) technology to generate an analog echo signal, but it can only be used for calibrating the receiving channel, but cannot be used for calibrating the transmitting channel, so that the method cannot meet the calibration requirement of the high-frequency MIMO radar. The design of the delay forwarding auxiliary calibration source is a relatively common method, namely, the radar transmitting signal is received and then stored, delayed and forwarded to simulate a target with a specified speed at a specified distance and a specified direction so as to complete calibration. In summary, none of the conventional auxiliary calibration sources can better satisfy the calibration of the high frequency MIMO radar.
Disclosure of Invention
The invention aims to provide a high-frequency MIMO radar auxiliary calibration source and a calibration method, which are characterized in that a frequency MIMO radar transmitting signal is converted into a complex signal by utilizing time delay and Hilbert conversion, a modulation complex signal is generated based on information such as the distance, the speed and the like of a radar target to be simulated, the simulation of a radar target echo signal is realized in a complex signal multiplication mode, and the simultaneous calibration of a transmitting channel and a receiving channel of a high-frequency MIMO radar is realized by utilizing the echo signal containing the information of the transmitting channel and the receiving channel.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
one aspect of the present invention provides a high frequency MIMO radar auxiliary calibration source, including:
the synchronization module is used for outputting a clock signal and synchronizing an auxiliary calibration source and the MIMO radar clock; the MIMO radar receiving module is used for controlling the receiving module to synchronously receive the MIMO radar transmitting signals; and the transmitting module is used for controlling the transmitting module to synchronously transmit the echo signals; the MIMO radar transmitting signal is superposition of all transmitting signals of the MIMO radar;
the receiving module is used for synchronously receiving the MIMO radar transmitting signals, converting the MIMO radar transmitting signals into digital signals and outputting the digital signals to the signal processing module;
the signal processing module is used for receiving the digital signals for processing, generating echo signals of the radar target to be simulated and outputting the echo signals to the transmitting module;
and the transmitting module is used for receiving the echo signals, converting the echo signals into analog signals, synchronously transmitting the converted echo signals and radiating the signals to an external space by an antenna.
Furthermore, the synchronization module is specifically configured to,
and outputting a 10MHz clock signal, and sending the clock signal to the receiving module, the signal processing module and the transmitting module.
Furthermore, the synchronization module performs clock synchronization with the MIMO radar in a GPS synchronization manner.
Further, the receiving module is specifically configured to,
and carrying out filtering amplification and analog-to-digital conversion on the received MIMO radar transmitting signal to obtain a digital signal.
Furthermore, the transmitting module is specifically configured to,
and performing digital-to-analog conversion and amplification filtering on the received echo signals.
Furthermore, the signal processing module adopts an FPGA.
Further, the signal processing module is specifically configured to,
calculating the Doppler frequency and the distance element of the radar target to be simulated according to the speed and the distance of the radar target to be simulated, and generating a modulation signal;
respectively carrying out time delay and Hilbert conversion on the received digital signals to generate complex signals;
and generating an echo signal of the radar target to be simulated based on the modulation signal and the complex signal.
Further, the signal processing module is specifically configured to,
calculating the Doppler frequency of the radar target to be simulated according to the speed of the radar target to be simulated as follows:
f dop ＝2f 0 v/c，
wherein, f dop Doppler frequency, f, of the radar target to be simulated 0 The working frequency of the MIMO radar is shown, c is the light speed, and v is the speed of the radar target to be simulated;
according to the distance of the radar target to be simulated, calculating the distance elements of the radar target to be simulated as follows:
r＝2Bd/c，
wherein r is a distance element of a radar target to be simulated, d is a distance of the radar target to be simulated, and B is a signal bandwidth transmitted by the MIMO radar;
calculating the frequency of the modulation signal according to the distance element of the radar target to be simulated as follows:
calculating the accumulated phase of the modulation signal according to the Doppler frequency of the radar target to be simulated as follows:
generating a modulation signal based on the frequency and accumulated phase is:
wherein S is mod To modulate a signal, f mod In order to modulate the frequency of the signal,
is the accumulated phase of the modulation signal, n is the nth sweep period, T is sweep time, T is time, S imod And S qmod Respectively the real and imaginary parts of the modulated signal.
Furthermore, the signal processing module is specifically configured to,
performing Hilbert transform on the received digital signal by using an FIR all-pass filter to obtain an orthogonal signal S q ；
The received digital signal is delayed by a delay length of FIR all-pass filter order/2 to obtain in-phase component S i ；
The complex signal Z is obtained as: z = S i +jS q ；
And (c) a second step of,
the echo signals of the radar target to be simulated are generated as follows:
S m ＝real[(S imod +jS qmod )(S i +jS q )]＝S imod S i -S qmod S q ；
wherein S is m Is the echo signal of the radar target to be simulated.
Another aspect of the present invention provides a method for performing MIMO radar-assisted calibration, including:
synchronously receiving MIMO radar transmitting signals; the MIMO radar transmitting signal is superposition of all transmitting signals of the MIMO radar;
converting the received MIMO radar transmitting signals to obtain digital signals;
processing the digital signal to generate an echo signal of a radar target to be simulated;
converting the generated echo signal of the radar target to be simulated into a simulation signal, synchronously transmitting the simulation signal and radiating the simulation signal to an external space;
and receiving the echo signal of the radar target to be simulated through an external space, and calibrating the transmitting channel and the receiving channel of the MIMO radar.
Compared with the prior art, the invention has the following beneficial effects:
1. the auxiliary calibration source designed by the invention can simultaneously complete the calibration of the radar transmitting channel and the radar receiving channel, and meets the requirement of MIMO radar detection.
2. The auxiliary calibration source designed by the invention is based on a digital domain complex signal multiplication mode, can realize target simulation under the condition of lower sampling rate, and has the advantages of simple realization process, lower hardware circuit cost and complexity and high stability.
3. The auxiliary calibration source designed by the invention can realize accurate simulation of targets with different speeds and distances, and has stronger applicability and wider application range compared with the traditional high-frequency radar calibration source.
Drawings
Fig. 1 is a block diagram of a high-frequency MIMO radar auxiliary calibration source according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of generating complex signals according to an embodiment of the present invention;
fig. 3 is a target range-doppler spectrum simulated by an auxiliary calibration source received by the MIMO radar in an embodiment of the present invention.
Detailed Description
The invention is further described below. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
An embodiment of the present invention provides an auxiliary calibration source for a high-frequency MIMO radar, as shown in fig. 1, the auxiliary calibration source includes a synchronization module, a receiving module, a signal processing module, and a transmitting module.
The synchronization module is used for outputting a clock signal and synchronizing an auxiliary calibration source and the MIMO radar clock; the receiving module is used for controlling the receiving module to synchronously receive the MIMO radar transmitting signals; the transmitting module is used for controlling the transmitting module to synchronously transmit the echo signals;
the receiving module is used for synchronously receiving the MIMO radar transmitting signals, carrying out filtering amplification and analog-to-digital conversion to obtain digital signals and outputting the digital signals to the signal processing module; it should be noted that the MIMO radar transmission signal is a superposition of all transmission signals of the MIMO radar;
the signal processing module is used for processing the digital signal output by the receiving module, generating an echo signal of the radar target to be simulated and outputting the echo signal to the transmitting module;
the transmitting module is used for performing digital-to-analog conversion on the echo signals output by the signal processing module, amplifying and filtering the echo signals, performing synchronous transmission under the synchronous control of the synchronous module, radiating the echo signals to an external space by an antenna and simulating the echo signals in a real environment.
By adopting the auxiliary calibration source of the embodiment of the invention, each receiving channel of the MIMO radar can receive the analog echo signal transmitted by the transmitting module, and the analog echo signal comprises the transmitting signals of a plurality of transmitting channels, so that the calibration of the transmitting channels and the receiving channels can be realized by combining the known position and speed information of the target.
In this embodiment, the synchronization module is specifically configured to,
and outputting a 10MHz clock signal, and sending the clock signal to a receiving module, a signal processing module and a transmitting module as a clock signal source of each module.
In a preferred embodiment, the synchronization module adopts a GPS synchronization mode to synchronize with the MIMO radar.
In this embodiment, the signal processing module is implemented by using an FPGA.
In this embodiment, the signal processing module is specifically configured to,
calculating the Doppler frequency and the distance element of the radar target to be simulated according to the speed and the distance of the radar target to be simulated, and generating a modulation signal;
respectively carrying out time delay and Hilbert conversion on the digital signals output by the receiving module to generate complex signals;
and generating an echo signal of the radar target to be simulated based on the generated modulation signal and the complex signal.
It should be noted that the doppler frequency of the radar target to be simulated is calculated as follows:
f dop ＝2f 0 v/c，
wherein, f dop Doppler frequency, f, of the radar target to be simulated 0 The working frequency of the MIMO radar, c is the light speed, and v is the speed of the radar target to be simulated.
It should be noted that the distance element of the radar target to be simulated is calculated as follows:
r＝2Bd/c，
wherein r is a distance element of a radar target to be simulated, d is a distance of the radar target to be simulated, and B is a signal bandwidth transmitted by the MIMO radar.
It should be noted that, the frequency of the modulation signal is calculated according to the distance element of the radar target to be simulated as follows:
calculating the accumulated phase of the modulation signal according to the Doppler frequency of the radar target to be simulated as follows:
generating a modulation signal based on the frequency and the accumulated phase is:
wherein S is mod To modulate a signal, f mod In order to modulate the frequency of the signal,
n is the nth sweep period, T is time, and T is sweep time.
It should be noted that the modulation signal is a complex signal, S imod And S qmod Respectively the real and imaginary parts of the modulated signal.
In a preferred embodiment, the modulation signal is generated by an NCO module.
Note that, the complex signal is represented as:
Z＝S i +jS q ，
wherein Z is a complex signal, S q Is obtained by Hilbert conversion of digital signals output by a receiving module, S i The digital signal output by the receiving module is obtained after time delay.
In addition, S is q And S i The phase difference is pi/2.
It should be noted that the delay time length is determined by the phase delay of the Hilbert transform performed on the digital signal output by the receiving module. The delay length is the order of the FIR filter/2.
As a preferred embodiment, the Hilbert transform is implemented using an FIR all-pass filter.
It should be noted that the echo signals of the radar target to be simulated are:
S m ＝real[(S imod +jS qmod )(S i +jS q )]＝S imod S i -S qmod S q ；
wherein S is m For the echo signal of the radar target to be simulated, real part of the signal is taken.
In another embodiment of the invention, the operating frequency f of the MIMO radar is assumed 0 The frequency is 8MHz, the bandwidth B is 30kHz, the frequency sweep time T is 200ms, and taking the target of simulating the speed at 50km to be 7.5m/s as an example, the signal processing process of the signal processing module is as follows:
step 1: according to f dop ＝2f 0 v/c, calculating to obtain the Doppler frequency f of the radar target to be simulated dop ＝0.4Hz；
According to the r =2Bd/c, calculating to obtain a distance element r =10 of the radar target to be simulated;
according to
Calculating to obtain the frequency f of the modulation signal mod ＝50；
According to
The accumulated phase of the modulation signal is calculated to be
The resulting modulation signal is: s. the mod ＝cos(100πt+0.16πn)+jsin(100πt+0.16πn)。
The modulation signal contains the distance element information and Doppler frequency information of the target to be simulated, the phase of the modulation signal is accumulated along with the sweep frequency period, and the modulation signal can be directly generated by an NCO module of the FPGA.
Step 2: performing Hilbert transform on the digital signal S (t) output by the receiving module by using an FIR all-pass filter to obtain an orthogonal signal S q ；
The digital signal S (t) passes through a delayer with the delay length of FIR filter order/2 to obtain the in-phase component S i ；
Finally obtaining a complex signal Z = S i +jS q 。
And 3, step 3: multiplying the real part and the imaginary part of the complex signal in the step 2 with the real part and the imaginary part of the modulation signal in the step 1 respectively, and then subtracting to obtain a modulated echo signal:
S m ＝real[(S imod +jS qmod )(S i +jS q )]＝S imod S i -S qmod S q 。
will S m And outputting the data to a transmitting module.
Example 2
The embodiment provides a high-frequency MIMO radar auxiliary calibration method, which is based on the high-frequency MIMO radar auxiliary calibration source of embodiment 1 to perform MIMO radar auxiliary calibration, and includes:
synchronously receiving MIMO radar transmitting signals; it should be noted that the MIMO radar transmission signal is a superposition of all transmission signals of the MIMO radar;
carrying out filtering amplification and analog-to-digital conversion on the received MIMO radar transmitting signal to obtain a digital signal;
processing the obtained digital signal to generate an echo signal of the radar target to be simulated;
performing digital-to-analog conversion on the generated echo signals to analog echo signals, amplifying, filtering, performing synchronous emission, and radiating to an external space;
and receiving the analog echo signal, and calibrating a transmitting channel and a receiving channel of the MIMO radar.
In this embodiment, processing the obtained digital signal to generate an echo signal of the radar target to be simulated includes:
calculating to obtain the Doppler frequency and the distance element of the radar target to be simulated according to the speed and the distance of the radar target to be simulated, and generating a modulation signal;
respectively carrying out time delay and Hilbert conversion on the digital signals output by the receiving module to generate complex signals;
and generating an echo signal of the radar target to be simulated based on the generated modulation signal and the complex signal.
It should be noted that, according to the speed and the distance of the radar target to be simulated, the doppler frequency and the distance element of the radar target to be simulated are calculated and obtained, and a modulation signal is generated, including:
calculating the Doppler frequency of the radar target to be simulated according to the speed of the radar target to be simulated as follows:
f dop ＝2f 0 v/c，
wherein f is dop Doppler frequency, f, of the radar target to be simulated 0 The working frequency of the MIMO radar is shown, c is the light speed, and v is the speed of the radar target to be simulated;
according to the distance of the radar target to be simulated, calculating the distance elements of the radar target to be simulated as follows:
r＝2Bd/c，
wherein r is a distance element of a radar target to be simulated, d is a distance of the radar target to be simulated, and B is a signal bandwidth transmitted by the MIMO radar;
calculating the frequency of the modulation signal according to the distance element of the radar target to be simulated as follows:
calculating the accumulated phase of the modulation signal according to the Doppler frequency of the radar target to be simulated as follows:
generating a modulation signal based on the frequency and the accumulated phase is:
wherein S is mod To modulate a signal, f mod In order to modulate the frequency of the signal,
the accumulated phase of the modulation signal is n, the nth sweep period is n, and the sweep time is T.
It should be noted that, the digital signals output by the receiving module are respectively delayed and Hilbert transformed to generate complex signals, and as shown in fig. 2, the complex signals include:
performing Hilbert transform on the digital signal S (t) subjected to analog-to-digital conversion by using an FIR all-pass filter to obtain an orthogonal signal S q ；
The digital signal S (t) passes through a delayer with the delay length of FIR filter order/2 to obtain the in-phase component S i ；
Finally obtaining a complex signal Z = S i +jS q 。
It should be noted that, generating an echo signal of a radar target to be simulated based on the generated modulation signal and complex signal includes:
will reply the letterThe real and imaginary parts of the signal Z and the modulated signal S, respectively mod The real part and the imaginary part are multiplied and subtracted to obtain a modulated analog echo signal:
S m ＝real[(S imod +jS qmod )(S i +jS q )]＝S imod S i -S qmod S q 。
where real denotes taking the real part of the signal.
By adopting the method of the embodiment, the target range-doppler spectrum shown in fig. 3 is finally obtained, and for an M-transmit-N-receive MIMO radar receiver, each receiving channel receives the analog echo signal, and the analog echo signal includes the transmitting signals of M transmitting channels, so that the calibration of the transmitting channels and the receiving channels can be realized by combining the known position and speed information of the target.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A high frequency MIMO radar assisted calibration source, comprising:
the synchronization module is used for outputting a clock signal and synchronizing the auxiliary calibration source and the MIMO radar clock; the receiving module is used for controlling the receiving module to synchronously receive the MIMO radar transmitting signals; the transmitting module is used for controlling the transmitting module to synchronously transmit the echo signals; the MIMO radar transmitting signal is superposition of all transmitting signals of the MIMO radar;
the receiving module is used for synchronously receiving the MIMO radar transmitting signals, converting the MIMO radar transmitting signals into digital signals and outputting the digital signals to the signal processing module;
the signal processing module is used for receiving the digital signals for processing, generating echo signals of the radar target to be simulated and outputting the echo signals to the transmitting module;
and the transmitting module is used for receiving the echo signals, converting the echo signals into analog echo signals, synchronously transmitting the converted analog echo signals and radiating the analog echo signals to an external space by an antenna.
2. The high frequency MIMO radar assisted calibration source of claim 1, wherein the synchronization module is specifically configured to,
and outputting a 10MHz clock signal, and sending the clock signal to the receiving module, the signal processing module and the transmitting module.
3. A high frequency MIMO radar auxiliary calibration source according to claim 2, wherein said synchronization module employs a GPS synchronization method to perform clock synchronization with the MIMO radar.
4. The high frequency MIMO radar assisted calibration source of claim 1, wherein the receive module is specifically configured to,
and carrying out filtering amplification and analog-to-digital conversion on the received MIMO radar transmitting signal to obtain a digital signal.
5. A high frequency MIMO radar auxiliary calibration source according to claim 1, wherein the transmitting module is specifically configured to,
and performing digital-to-analog conversion and amplification filtering on the received echo signal.
6. The high frequency MIMO radar auxiliary calibration source of claim 1, wherein the signal processing module employs an FPGA.
7. The high frequency MIMO radar assisted calibration source of claim 1, wherein the signal processing module is specifically configured to,
calculating the Doppler frequency and the distance element of the radar target to be simulated according to the speed and the distance of the radar target to be simulated, and generating a modulation signal;
respectively carrying out time delay and Hilbert conversion on the received digital signals to generate complex signals;
and generating an echo signal of the radar target to be simulated based on the modulation signal and the complex signal.
8. The high frequency MIMO radar assisted calibration source of claim 7, wherein the signal processing module is specifically configured to,
calculating the Doppler frequency of the radar target to be simulated according to the speed of the radar target to be simulated as follows:
f dop ＝2f 0 v/c，
wherein f is dop Doppler frequency, f, of the radar target to be simulated 0 The working frequency of the MIMO radar, c is the light speed, and v is the speed of the radar target to be simulated;
according to the distance of the radar target to be simulated, calculating the distance elements of the radar target to be simulated as follows:
r＝2Bd/c，
wherein r is a distance element of a radar target to be simulated, d is a distance of the radar target to be simulated, and B is a signal bandwidth transmitted by the MIMO radar;
calculating the frequency of the modulation signal according to the distance element of the radar target to be simulated as follows:
calculating the accumulated phase of the modulation signal according to the Doppler frequency of the radar target to be simulated as follows:
generating a modulation signal based on the frequency and the accumulated phase is:
wherein S is mod To modulate a signal, f mod To modulate a signalThe frequency of the signals is such that,
is the accumulated phase of the modulation signal, n is the nth sweep period, T is sweep time, T is time, S imod And S qmod Respectively the real and imaginary parts of the modulated signal.
9. The high frequency MIMO radar assisted calibration source of claim 8, wherein the signal processing module is specifically configured to,
performing Hilbert transform on the received digital signal by using an FIR all-pass filter to obtain an orthogonal signal S q ；
The received digital signal is delayed by a delay with the order of 2 of an FIR all-pass filter to obtain an in-phase component S i ；
The complex signal Z is obtained as: z = S i +jS q ；
And the number of the first and second groups,
the echo signals of the radar target to be simulated are generated as follows:
S m ＝real[(S imod +jS qmod )(S i +jS q )]＝S imod S i -S qmod S q ；
wherein S is m Is the echo signal of the radar target to be simulated.
10. The method for MIMO radar assisted calibration based on the high frequency MIMO radar assisted calibration source of any one of claims 1 to 9, comprising:
synchronously receiving MIMO radar transmitting signals; the MIMO radar transmitting signal is superposition of all transmitting signals of the MIMO radar;
converting the received MIMO radar transmitting signal to obtain a digital signal;
processing the digital signal to generate an echo signal of a radar target to be simulated;
converting the generated echo signal of the radar target to be simulated into a simulated echo signal, synchronously transmitting the simulated echo signal and radiating the simulated echo signal to an external space;
and receiving the simulation echo signal of the radar target to be simulated through an external space, and calibrating the transmitting channel and the receiving channel of the MIMO radar.
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