CN116299299A - Speed disambiguation method, device, radar equipment and storage medium - Google Patents
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- 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
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- 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
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- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
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Abstract
The application provides a speed disambiguation method, a speed disambiguation device, radar equipment and a storage medium, wherein the speed disambiguation method comprises the following steps: transmitting a preset pulse waveform to sample under a preset waveform constraint condition, grouping the acquired echo waveforms, performing two-dimensional Fourier transform on the grouped waveform data to obtain two corresponding groups of distance-Doppler graphs, performing constant false alarm rate detection on one group of the distance-Doppler graphs to obtain an index of a target detection point, and calculating the non-blurring speed according to the index acquired from the distance-Doppler graphs and the algorithm provided by the application. According to the method and the device, the computing efficiency and the computing precision of the non-fuzzy speed can be improved.
Description
Technical Field
The application relates to the technical field of radar signal processing, in particular to a speed disambiguation method, a speed disambiguation device, radar equipment and a storage medium.
Background
FMCW (Frequency Modulated Continuous Wave ) waveform measurements of conventional millimeter wave radars generally only obtain limited radial velocity information, that is, only detect the velocity of a target moving in the direction of the radar. In a scene where the difference in the relative velocity is large, it is necessary to perform a secondary analysis to acquire velocity information of the target. In general, in target tracking, the velocity information of the target is calculated using a distance derivative, but this method requires a long time (multi-frame data) to calculate convergence, and accuracy is also limited by the inter-frame time interval.
Disclosure of Invention
The application provides a speed disambiguation method, a speed disambiguation device, radar equipment and a storage medium, which are used for solving the problems of long time consumption and poor precision caused by a method for calculating speed information of a target by using distance differentiation in the related technology.
In a first aspect, the present application provides a method for velocity deblurring, the method comprising:
transmitting a preset pulse waveform according to a preset waveform constraint condition;
dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first group of waveforms and a second group of waveforms;
performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler diagram and a corresponding second range-Doppler diagram;
performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of a target detection point;
acquiring first amplitude and phase data corresponding to an index of the target detection point from the first range-doppler plot, and acquiring second amplitude and phase data corresponding to an index of the target detection point from the second range-doppler plot;
calculating a first phase according to the first amplitude-phase data, and calculating a second phase according to the second amplitude-phase data;
calculating a phase difference according to the first phase and the second phase, and calculating a phase corresponding to the non-fuzzy speed according to the phase difference;
and calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
In an embodiment of the present application, the step of transmitting the preset frequency-modulated continuous wave under the preset waveform constraint condition includes:
configuring a first pulse waveform chirp1 and a second pulse waveform chirp2;
performing cyclic emission N by taking the first pulse waveform chirp1 and the second pulse waveform chirp2 as templates chirp A pulse waveform of N chirp Is a positive integer.
In an embodiment of the present application, the step of dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first set of waveforms and a second set of waveforms includes:
the N is set to chirp The pulse waveforms are divided according to the odd-even number to obtain a first group of waveforms A= [ chirp1, chirp3, chirp5, chirp7, …, chirp N chirp /2-1]And a second set of waveforms b= [ chirp2, chirp4, chirp6, chirp8, …, chirp n chirp /2]。
In an embodiment of the present application, the step of performing a one-dimensional fourier transform and a two-dimensional fourier transform on the first set of waveforms and the second set of waveforms to obtain a corresponding first range-doppler plot and a second range-doppler plot includes:
performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first group of waveforms A and the second group of waveforms B respectively to obtain the first distance-Doppler image cube A and the second distance-Doppler image cube B;
wherein the first and second range-doppler plots cube a and cube b are the same.
In an embodiment of the present application, the step of performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of target detection points includes:
carrying out normalized cross-correlation processing on any one of the first distance-Doppler image cube A and the second distance-Doppler image cube B to obtain a third distance-Doppler image cube after the normalized cross-correlation processing;
and detecting the constant false alarm rate of the third distance-Doppler image cube to obtain indexes [ R0, D0] of target detection points.
In an embodiment of the present application, the step of acquiring first amplitude-phase data corresponding to the index of the target detection point from the first range-doppler plot, and acquiring second amplitude-phase data corresponding to the index of the target detection point from the second range-doppler plot includes:
acquiring first amplitude and phase data AP1 corresponding to an index [ R0, D0] of the target detection point from the first distance-Doppler image cube A;
and acquiring second amplitude-phase data AP2 corresponding to the index [ R0, D0] of the target detection point from the second distance-Doppler image cube.
In an embodiment of the present application, the step of calculating the first phase according to the first amplitude-phase data and calculating the second phase according to the second amplitude-phase data includes:
calculating a first phase according to the first amplitude-phase data AP1
；
Calculating a second phase from the second amplitude-phase data AP2
；
According to the index R0, D0]Calculate the third phase
；
wherein ,
；
if it is
Then->
；
If it is
Then->
。
In one embodiment of the present application,
the first phase
And said second phase->
Phase difference of->
Calculated according to the following formula:
the phase corresponding to the non-blurring speed
Calculated according to the following formula:
wherein ,
，/>
；
wherein ,
and />
Is adjacent positive integer, 2>
and />
Is also an adjacent positive integer, ">
Indicates the duration of the first pulse waveform chirp1,/-)>
Representing the duration of the second pulse waveform chirp2,/or->
The interval time between the transmission of the first pulse waveform chirp1 and the transmission of the second pulse waveform chirp2 is represented.
In one embodiment of the present application,
the fuzzy number
Calculated according to the following formula:
wherein ,
representing rounding operations to integer;
the non-blurring speed
Calculated according to the following formula:
wherein ,
representing the radar emission wavelength.
In a second aspect, the present application further provides a speed deblurring apparatus, the apparatus comprising:
the configuration module is used for transmitting preset pulse waveforms according to preset waveform constraint conditions;
the detection module is used for dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first group of waveforms and a second group of waveforms; performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler diagram and a corresponding second range-Doppler diagram; performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of a target detection point; acquiring first amplitude and phase data corresponding to an index of the target detection point from the first range-doppler plot, and acquiring second amplitude and phase data corresponding to an index of the target detection point from the second range-doppler plot;
the calculation module is used for calculating a first phase according to the first amplitude-phase data and calculating a second phase according to the second amplitude-phase data; calculating a phase difference according to the first phase and the second phase, and calculating a phase corresponding to the non-fuzzy speed according to the phase difference; and calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
In a third aspect, the present application also provides a radar apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the speed disambiguation method according to the first aspect when the program is executed.
In a fourth aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the speed disambiguation method according to any of the first aspects.
According to the speed disambiguation method, the device, the radar equipment and the storage medium, a radar emits preset pulse waveforms to sample according to preset waveform constraint conditions, then the acquired echo waveforms are grouped, two-dimensional Fourier transform is carried out on the grouped waveform data to obtain two corresponding groups of distance-Doppler graphs, constant false alarm rate detection is carried out on one group of distance-Doppler graphs to obtain indexes of target detection points, and then the disambiguation speed is calculated according to the indexes obtained from the distance-Doppler graphs and according to an algorithm provided by the application. According to the method and the device, the computing efficiency and the computing precision of the non-fuzzy speed can be improved.
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For a clearer description of the present application or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow diagram of a velocity disambiguation method provided herein;
FIG. 2 is a schematic diagram of a pulse waveform provided herein;
figure 3 is a first range-doppler plot provided herein;
figure 4 is a second range-doppler plot provided herein;
figure 5 is a third range-doppler plot provided herein;
fig. 6 is a schematic structural diagram of a speed deblurring device provided in the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein.
In order to solve the problems of long time consumption and poor precision caused by a method for calculating speed information of a target by using distance differentiation in correlation calculation, the application provides a speed disambiguation method, a device, radar equipment and a storage medium, wherein a radar transmits preset pulse waveforms to sample according to preset waveform constraint conditions, acquired echo waveforms are grouped, two groups of corresponding distance-Doppler graphs are obtained after two-dimensional Fourier transformation is carried out on the grouped waveform data, constant false alarm rate detection is carried out on one group of the distance-Doppler graphs to obtain indexes of target detection points, and then the disambiguation speed is calculated according to the indexes obtained from the distance-Doppler graphs and according to an algorithm provided by the application. According to the method and the device, the computing efficiency and the computing precision of the non-fuzzy speed can be improved.
The speed disambiguation method, apparatus, radar device, and storage medium of the present application are described below in conjunction with fig. 1-6.
Referring to fig. 1, fig. 1 is a flow chart of a speed deblurring method provided in the present application. A method of velocity deblurring, the method comprising:
And 102, dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first group of waveforms and a second group of waveforms.
And 103, performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler image and a corresponding second range-Doppler image.
And 104, performing constant false alarm rate detection on any one of the first distance-Doppler diagram and the second distance-Doppler diagram to obtain an index of target detection points.
And 107, calculating the phase difference according to the first phase and the second phase, and calculating the phase corresponding to the non-blurring speed according to the phase difference.
And step 108, calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
The steps 101 to 108 are specifically described below.
In some embodiments of the present application, in step 101, the step of transmitting a preset pulse waveform with a preset waveform constraint condition includes:
in step 1011, a first pulse waveform chirp1 and a second pulse waveform chirp2 are configured.
Step 1012, performing cyclic emission N by using the first pulse waveform chirp1 and the second pulse waveform chirp2 as templates chirp A pulse waveform of N chirp Is a positive integer.
In some embodiments of the present application, the waveforms described herein may be FMCW (Frequency Modulated Continuous Wave ), a high precision, long range radar ranging technique commonly used in the military and civilian radar arts. By generating a frequency modulated continuous wave signal and transmitting it to a target object, the FMCW radar can determine the distance to the target by measuring the frequency difference between the original signal and the reflected signal as the signal is reflected back off the target, which is generally of high accuracy and can detect the speed information of the target.
Referring to fig. 2, fig. 2 is a schematic diagram of a pulse waveform provided in the present application, and a first pulse waveform chi is shown in the diagramrp1 and the second pulse waveform chirp2 form a pair of waveforms, which are subsequently transmitted in a loop using the pair of waveforms as templates. In the drawings
Indicates the duration of the first pulse waveform chirp1,/-)>
Representing the duration of the second pulse waveform chirp2,/or->
The interval time between the transmission of the first pulse waveform chirp1 and the transmission of the second pulse waveform chirp2 is represented.
In some embodiments of the present application, the waveform is in the form of
For reference (I)>
and />
May be equal. />
Is->
Is greater than a positive integer multiple of 1, expressed as +.>
，/>
。
In some embodiments of the present application,
，/>
and satisfies the conditions: />
and />
Is adjacent positive integer, 2>
and />
And is also an adjacent positive integer.
In some embodiments of the present application, the waveform is
The value of (2) can be sufficiently small, then according to +.>
Maximum speed +.>
。
In some embodiments of the present application, in step 102, the step of dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first set of waveforms and a second set of waveforms further includes:
step 1021, converting the N chirp The pulse waveforms are divided by the odd-even number to obtain a first set of waveforms a and a second set of waveforms B.
Wherein the first set of waveforms a= [ chirp1, chirp3, chirp5, chirp7, …, chirp n chirp /2-1]The method comprises the steps of carrying out a first treatment on the surface of the The second set of waveforms b= [ chirp2, chirp4, chirp6, chirp8, …, chirp n chirp /2]。
In some embodiments of the present application, in step 103, performing a one-dimensional fourier transform and a two-dimensional fourier transform on the first set of waveforms and the second set of waveforms, respectively, to obtain a corresponding first range-doppler plot and a second range-doppler plot includes:
step 1031, performing one-dimensional fourier transform and two-dimensional fourier transform on the first set of waveforms a and the second set of waveforms B, respectively, to obtain the first range-doppler plot cube a and the second range-doppler plot cube B.
Wherein the first and second range-doppler plots cube a and cube b are the same.
Among these, fourier transform is a mathematical transform whose main function is to transform a time domain function (also called a time-series signal) into a frequency domain function (also called a frequency spectrum) for analyzing the frequency domain characteristics of the signal. In the field of signal processing, one-dimensional fourier transforms (1D Fourier Transform) and two-dimensional fourier transforms (2D Fourier Transform) may be used to analyze the frequency domain characteristics of a signal.
The one-dimensional fourier transform is a fourier transform of a time-domain signal (one-dimensional signal), resulting in a one-dimensional frequency-domain signal with respect to frequency. The one-dimensional Fourier transform can be used for analyzing the frequency spectrum characteristics of one-dimensional signals such as audio and voice, and is commonly used for signal processing tasks such as filtering and denoising. The two-dimensional fourier transform is to perform fourier transform on a two-dimensional signal, and a two-dimensional frequency domain signal with respect to frequency is obtained. The two-dimensional fourier transform can be used for analyzing the spectrum characteristics of two-dimensional signals such as images, videos and the like, and is commonly used in aspects such as image processing, video processing and the like.
The Range-doppler plot (Range-Dependent Doppler, RD plot) is a commonly used image representation method in radar signal processing, and can be used to display the change rule of the pulse echo signal received by the radar in the Range and doppler frequencies. The RD Map is the result of a further transformation from a Range-Doppler Map, which maps the radar signal from a two-dimensional space into a three-dimensional image, where the horizontal axis represents the Range of the Range bin, the vertical axis represents the Doppler frequency of the Doppler bin, and the height represents the signal amplitude of the radar received signal strength.
The RD map can display the change rule of the distance and the speed of the target along with time, so that the target can be tracked and identified, the RD map has an important role in radar signal processing, and for complex targets and environments, the performance of a radar system can be improved through analysis and processing of the RD map, and the radar system is more suitable for different application scenes.
The following is described by way of a specific example.
For example, assume that
，/>
，/>
Then the first set of waveforms a= [1,3,5,7, …,511]The first set of waveforms b= [2,4,6,8, …,512]。
The first set of waveforms a is subjected to one-dimensional fourier transform and two-dimensional fourier transform to obtain a first range-doppler plot cube (as shown in fig. 3).
The first set of waveforms B is subjected to one-dimensional fourier transform and two-dimensional fourier transform to obtain a second range-doppler plot cube (as shown in fig. 4).
As can be seen from fig. 3 and 4, the first and second range-doppler profiles cube a and cube b are identical.
In some embodiments of the present application, in step 104, the step of performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of target detection points includes:
in step 1041, normalized cross-correlation processing is performed on any one of the first range-doppler plot cube a and the second range-doppler plot cube b to obtain a third range-doppler plot cube after normalized cross-correlation processing.
Normalized Cross-Correlation (NCC) is an image processing technique that can be used for object matching and recognition. The NCC can compare the similarity of the two images based on the cross correlation of the two images, and the normalized cross correlation coefficient between the two images is obtained by calculating the pixel points of the two images and can be used for evaluating the similarity of the two images so as to realize the matching and the identification of the target.
Step 1042, performing constant false alarm rate detection on the third distance-doppler plot cube to obtain an index [ R0, D0] of the target detection point.
The Constant false alarm rate (Constant 0 Alarm Rate,CFAR) detection algorithm is a commonly used radar target detection algorithm, and is mainly applied to radar signal processing. The algorithm aims to keep the radar system to realize high detection rate and low false detection rate under a certain false alarm rate. The constant false alarm rate detection algorithm is applicable to various types of radar systems, such as weather radar, control surveillance radar, ground search radar, and the like.
The constant false alarm rate detection algorithm ensures that the radar system detects the target and simultaneously maintains the false alarm rate unchanged, so that the constant false alarm rate detection algorithm is suitable for radar systems with various different purposes. In practical application, a proper radar target detection algorithm is selected according to practical needs, so that effective support and guarantee can be provided for radar target detection in different scenes.
In the examples provided based on fig. 3 and 4 above, since the first range-doppler plot cube a from the first set of waveforms a and the second range-doppler plot cube from the second set of waveforms B are identical, a Constant False Alarm Rate (CFAR) detection may be performed on the range-doppler plot of one of the sets of waveforms.
For example, the second range-doppler plot cube from the second set of waveforms B is normalized by cross correlation (NCC) and then subjected to Constant False Alarm Rate (CFAR) detection to obtain a third range-doppler plot cube (as shown in fig. 5). Wherein, the index of the target detection point corresponds to the X coordinate and the Y coordinate marked in fig. 5, that is, the X coordinate represents D0 and the Y coordinate R0. As can be seen from fig. 5, d0=429, and r0=34.
In some embodiments of the present application, in step 105, the step of acquiring first amplitude and phase data corresponding to the index of the target detection point from the first range-doppler plot and acquiring second amplitude and phase data corresponding to the index of the target detection point from the second range-doppler plot includes:
in step 1051, first amplitude and phase data AP1 corresponding to the index R0, D0 of the target detection point is acquired from the first range-doppler plot cube.
Step 1052, obtain the second amplitude and phase data AP2 corresponding to the index R0, D0 of the target detection point from the second range-doppler plot cube.
It should be noted that, the first distance-doppler plot cube represents a complex matrix corresponding to the first set of waveforms a, and the second distance-doppler plot cube represents a complex matrix corresponding to the second set of waveforms B. The first and second amplitude-phase data AP1, AP2 are complex values at the index R0, D0. For example, the first amplitude-phase data AP1 = i+jq, where I is the real part, Q is the imaginary part, and j is the imaginary unit.
In some embodiments of the present application, in step 106, the step of calculating a first phase from the first amplitude-phase data and calculating a second phase from the second amplitude-phase data includes:
step 1061, calculating a first phase according to the first amplitude-phase data AP1
。
For example, a first phase
Where I is the real part and Q is the imaginary part.
Step 1062, calculating a second phase according to the second amplitude and phase data AP2
。
Step 1063, according to index R0, D0]Calculate the third phase
；
wherein ,
；
if it is
Then->
；
If it is
Then->
。
In some embodiments of the present application, in step 107, the step of calculating a phase difference thereof from the first phase and the second phase, and calculating a phase corresponding to the non-blurring speed from the phase difference includes:
first phase of
And second phase->
Phase difference of->
Calculated according to the following formula:
phase corresponding to non-ambiguous speed
Calculated according to the following formula:
wherein ,
，/>
；
wherein ,
and />
Is adjacent positive integer, 2>
and />
Is also an adjacent positive integer, ">
Indicates the duration of the first pulse waveform chirp1,/-)>
Representing the duration of the second pulse waveform chirp2,/or->
The interval time between the transmission of the first pulse waveform chirp1 and the transmission of the second pulse waveform chirp2 is represented.
In some embodiments of the present application, in step 108, the step of calculating the blur number according to the phase corresponding to the non-blur speed, and calculating the non-blur speed according to the blur number includes:
fuzzy number
Calculated according to the following formula:
wherein ,
representing rounding operations to integer numbers.
Speed of no blurring
Calculated according to the following formula:
wherein ,
representing the radar emission wavelength.
The above-mentioned non-blurring speed
Is the true radial velocity of the present application.
It should be noted that if the conventional method of differentiating the distance is used to calculate the unblurred speed, at least two distances and a time interval are required, and the two distances are two frames (for example, 50ms×2=100 ms), so the conventional method calculates the unblurred speed at least twice as long as the speed unblurred method described in the present application in principle. In addition, because of the conventional method of distance differential velocity determination, clustering of the point cloud is required, this process loses the accuracy of the target, and because the period (e.g., 50 ms) is short, small changes in distance can lead to abrupt velocity changes.
In summary, the method includes the steps of transmitting preset pulse waveforms through a radar according to preset waveform constraint conditions to sample, grouping acquired echo waveforms, performing two-dimensional Fourier transform on grouped waveform data to obtain two corresponding sets of distance-Doppler graphs, performing constant false alarm rate detection on one set of the two sets of distance-Doppler graphs to obtain an index of a target detection point, and calculating the non-ambiguity speed according to the index acquired from the distance-Doppler graphs and an algorithm provided by the method. According to the method and the device, the computing efficiency and the computing precision of the non-fuzzy speed can be improved.
The speed defuzzification device provided by the application is described below, and the speed defuzzification device described below and the speed defuzzification method described above can be referred to correspondingly.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a speed deblurring device provided in the present application. A speed disambiguation device 600, the device comprising a configuration module 601, a detection module 602, and a calculation module 603.
Illustratively, the configuration module 601 is configured to transmit a preset pulse waveform with a preset waveform constraint.
Illustratively, the detecting module 602 is configured to divide the acquired echo waveforms corresponding to the preset pulse waveforms into a first set of waveforms and a second set of waveforms; performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler diagram and a corresponding second range-Doppler diagram; performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of a target detection point; first amplitude and phase data corresponding to the index of the target detection point is acquired from the first range-doppler plot, and second amplitude and phase data corresponding to the index of the target detection point is acquired from the second range-doppler plot.
Illustratively, the calculating module 603 is configured to calculate a first phase according to the first amplitude-phase data, and calculate a second phase according to the second amplitude-phase data; calculating a phase difference according to the first phase and the second phase, and calculating a phase corresponding to the non-fuzzy speed according to the phase difference; and calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
Illustratively, the configuration module 601 is further configured to:
configuring a first pulse waveform chirp1 and a second pulse waveform chirp2;
performing cyclic emission N by taking the first pulse waveform chirp1 and the second pulse waveform chirp2 as templates chirp A pulse waveform of N chirp Is a positive integer.
Illustratively, the detection module 602 is further configured to:
the N is set to chirp The pulse waveforms are divided according to the odd-even number to obtain a first group of waveforms A= [ chirp1, chirp3, chirp5, chirp7, …, chirp N chirp /2-1]And a second set of waveforms b= [ chirp2, chirp4, chirp6, chirp8, …, chirp n chirp /2]。
Illustratively, the detection module 602 is further configured to:
performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first group of waveforms A and the second group of waveforms B respectively to obtain the first distance-Doppler image cube A and the second distance-Doppler image cube B;
wherein the first and second range-doppler plots cube a and cube b are the same.
Illustratively, the detection module 602 is further configured to:
carrying out normalized cross-correlation processing on any one of the first distance-Doppler image cube A and the second distance-Doppler image cube B to obtain a third distance-Doppler image cube after the normalized cross-correlation processing;
and detecting the constant false alarm rate of the third distance-Doppler image cube to obtain indexes [ R0, D0] of target detection points.
Illustratively, the detection module 602 is further configured to:
acquiring first amplitude and phase data AP1 corresponding to an index [ R0, D0] of the target detection point from the first distance-Doppler image cube A;
and acquiring second amplitude-phase data AP2 corresponding to the index [ R0, D0] of the target detection point from the second distance-Doppler image cube.
Illustratively, the computing module 603 is further configured to:
calculating a first phase according to the first amplitude-phase data AP1
；
Calculating a second phase from the second amplitude-phase data AP2
；
According to the index R0, D0]Calculate the third phase
；
wherein ,
；
if it is
Then->
；
If it is
Then->
。
Illustratively, the computing module 603 is further configured to:
the first phase
And said second phase->
Phase difference of->
Calculated according to the following formula:
the phase corresponding to the non-blurring speed
Calculated according to the following formula:
wherein ,
，/>
；
wherein ,
and />
Is adjacent positive integer, 2>
and />
Is also an adjacent positive integer, ">
Indicates the duration of the first pulse waveform chirp1,/-)>
Representing the duration of the second pulse waveform chirp2,/or->
The interval time between the transmission of the first pulse waveform chirp1 and the transmission of the second pulse waveform chirp2 is represented.
Illustratively, the computing module 603 is further configured to:
the fuzzy number
Calculated according to the following formula:
wherein ,
representing rounding operations to integer;
the non-blurring speed
Calculated according to the following formula:
wherein ,
representing the radar emission wavelength.
It should be noted that, the speed de-blurring device provided in the embodiment of the present application can implement all the method steps implemented in the method embodiment and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in the embodiment are omitted herein.
In some embodiments of the present application, there is also provided a radar apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the speed disambiguation method as described above when the program is executed by the processor.
Further, the logic instructions in the memory described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present application also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of performing the speed disambiguation method provided by the methods described above, the method comprising:
transmitting a preset pulse waveform according to a preset waveform constraint condition;
dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first group of waveforms and a second group of waveforms;
performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler diagram and a corresponding second range-Doppler diagram;
performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of a target detection point;
acquiring first amplitude and phase data corresponding to an index of the target detection point from the first range-doppler plot, and acquiring second amplitude and phase data corresponding to an index of the target detection point from the second range-doppler plot;
calculating a first phase according to the first amplitude-phase data, and calculating a second phase according to the second amplitude-phase data;
calculating a phase difference according to the first phase and the second phase, and calculating a phase corresponding to the non-fuzzy speed according to the phase difference;
and calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided speed disambiguation methods, the method comprising:
transmitting a preset pulse waveform according to a preset waveform constraint condition;
dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first group of waveforms and a second group of waveforms;
performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler diagram and a corresponding second range-Doppler diagram;
performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of a target detection point;
acquiring first amplitude and phase data corresponding to an index of the target detection point from the first range-doppler plot, and acquiring second amplitude and phase data corresponding to an index of the target detection point from the second range-doppler plot;
calculating a first phase according to the first amplitude-phase data, and calculating a second phase according to the second amplitude-phase data;
calculating a phase difference according to the first phase and the second phase, and calculating a phase corresponding to the non-fuzzy speed according to the phase difference;
and calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
The radar apparatus, the computer program product, and the processor readable storage medium provided in the embodiments of the present application, where the computer program stored thereon enables a processor to implement all the method steps implemented by the method embodiments described above and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiments in the present embodiment are omitted herein.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (12)
1. A method of velocity deblurring, the method comprising:
transmitting a preset pulse waveform according to a preset waveform constraint condition;
dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first group of waveforms and a second group of waveforms;
performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler diagram and a corresponding second range-Doppler diagram;
performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of a target detection point;
acquiring first amplitude and phase data corresponding to an index of the target detection point from the first range-doppler plot, and acquiring second amplitude and phase data corresponding to an index of the target detection point from the second range-doppler plot;
calculating a first phase according to the first amplitude-phase data, and calculating a second phase according to the second amplitude-phase data;
calculating a phase difference according to the first phase and the second phase, and calculating a phase corresponding to the non-fuzzy speed according to the phase difference;
and calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
2. The method of claim 1, wherein the step of transmitting a predetermined number of frequency modulated continuous waves with predetermined waveform constraints comprises:
configuring a first pulse waveform chirp1 and a second pulse waveform chirp2;
performing cyclic emission N by taking the first pulse waveform chirp1 and the second pulse waveform chirp2 as templates chirp A pulse waveform of N chirp Is a positive integer.
3. The velocity deblurring method according to claim 2, wherein the step of dividing the acquired echo waveforms corresponding to the preset number of pulse waveforms into a first set of waveforms and a second set of waveforms includes:
the N is set to chirp The pulse waveforms are divided according to the odd-even number to obtain a first group of waveforms A= [ chirp1, chirp3, chirp5, chirp7, …, chirp N chirp /2-1]And a second set of waveforms b= [ chirp2, chirp4, chirp6, chirp8, …, chirp n chirp /2]。
4. A method of velocity deblurring according to claim 3, wherein said first and second sets of waveforms are one-dimensional fourier transformed and two-dimensional transformed, respectively
The step of fourier transforming to obtain the corresponding first and second range-doppler plots comprises:
performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first group of waveforms A and the second group of waveforms B respectively to obtain the first distance-Doppler image cube A and the second distance-Doppler image cube B;
wherein the first and second range-doppler plots cube a and cube b are the same.
5. The velocity deblurring method according to claim 4, wherein the step of performing constant false alarm rate detection on any one of the first and second range-doppler plots to obtain an index of target detection points comprises:
carrying out normalized cross-correlation processing on any one of the first distance-Doppler image cube A and the second distance-Doppler image cube B to obtain a third distance-Doppler image cube after the normalized cross-correlation processing;
and detecting the constant false alarm rate of the third distance-Doppler image cube to obtain indexes [ R0, D0] of target detection points.
6. The velocity deblurring method according to claim 5, wherein the step of acquiring first amplitude-phase data corresponding to the index of the target detection point from the first range-doppler plot, and acquiring second amplitude-phase data corresponding to the index of the target detection point from the second range-doppler plot comprises:
acquiring first amplitude and phase data AP1 corresponding to an index [ R0, D0] of the target detection point from the first distance-Doppler image cube A;
and acquiring second amplitude-phase data AP2 corresponding to the index [ R0, D0] of the target detection point from the second distance-Doppler image cube.
7. The method of speed de-blurring according to claim 6 wherein the step of calculating a first phase from the first amplitude-phase data and a second phase from the second amplitude-phase data comprises:
according to the first amplitude-phase dataAP1, calculate the first phase
；
Calculating a second phase from the second amplitude-phase data AP2
；
According to the index R0, D0]Calculate the third phase
；
wherein ,
；
if it is
Then->
；
If it is
Then->
。
8. The method for velocity deblurring according to claim 7,
the first phase
And said second phase->
Phase difference of->
Calculated according to the following formula:
the phase corresponding to the non-blurring speed
Calculated according to the following formula:
wherein ,
，/>
；
wherein ,
and />
Is adjacent positive integer, 2>
and />
Is also an adjacent positive integer, ">
Indicates the duration of the first pulse waveform chirp1,/-)>
Representing the duration of the second pulse waveform chirp2Between (I) and (II)>
The interval time between the transmission of the first pulse waveform chirp1 and the transmission of the second pulse waveform chirp2 is represented.
9. The method for velocity deblurring according to claim 8,
the fuzzy number
Calculated according to the following formula:
wherein ,
representing rounding operations to integer;
the non-blurring speed
Calculated according to the following formula:
wherein ,
representing the radar emission wavelength.
10. A speed deblurring apparatus, the apparatus comprising:
the configuration module is used for transmitting preset pulse waveforms according to preset waveform constraint conditions;
the detection module is used for dividing the acquired echo waveforms corresponding to the preset pulse waveforms into a first group of waveforms and a second group of waveforms; performing one-dimensional Fourier transform and two-dimensional Fourier transform on the first set of waveforms and the second set of waveforms respectively to obtain a corresponding first range-Doppler diagram and a corresponding second range-Doppler diagram; performing constant false alarm rate detection on any one of the first range-doppler plot and the second range-doppler plot to obtain an index of a target detection point; acquiring first amplitude and phase data corresponding to an index of the target detection point from the first range-doppler plot, and acquiring second amplitude and phase data corresponding to an index of the target detection point from the second range-doppler plot;
the calculation module is used for calculating a first phase according to the first amplitude-phase data and calculating a second phase according to the second amplitude-phase data; calculating a phase difference according to the first phase and the second phase, and calculating a phase corresponding to the non-fuzzy speed according to the phase difference; and calculating the fuzzy number according to the phase corresponding to the non-fuzzy speed, and calculating the non-fuzzy speed according to the fuzzy number.
11. A radar apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the velocity disambiguation method of any of claims 1 to 9 when the program is executed by the processor.
12. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the velocity deblurring method according to any one of claims 1 to 9.
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