CN116981043A - Object detection method, object detection device, electronic device, and storage medium - Google Patents
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Abstract
The disclosure provides an object detection method, an object detection device, electronic equipment and a computer readable storage medium, and belongs to the technical field of wireless communication. The method comprises the following steps: receiving a first echo signal of a first detection signal sent by a first base station to a detected object; analyzing the first echo signal and determining communication perception information; eliminating offset information in the communication perception information and determining intermediate data; performing feature decomposition based on the intermediate data, and determining a signal transmission attitude parameter for transmitting a second detection signal to the detected object; and sending the second detection signal to the detected object according to the signal sending gesture parameter, and receiving a second echo signal of the second detection signal so as to determine an object detection result of the detected object according to the second echo signal. The method and the device can accurately and effectively detect the detected object through a plurality of base stations.
Description
Technical Field
The present disclosure relates to the field of wireless communication technologies, and in particular, to an object detection method, an object detection apparatus, an electronic device, and a computer readable storage medium.
Background
The traditional multi-radar cooperative sensing algorithm, such as the signal processing of the distributed full-coherent radar, has extremely severe requirements on the synchronization precision and the deployment position of the multi-radar, and cannot be directly used for cooperative sensing among a plurality of communication base stations. In locating surrounding airborne objects, conventional algorithms mostly assume perfect synchronization of clocks between transceivers. 3GPP (3 rd Generation Partnership Project, third Generation partnership project) TS 38.104 (a technical report or specification) specifies that the clock bias between base stations cannot exceed 3 μs, but low clock offsets, typically on the order of tens of nanoseconds, also significantly degrade positioning performance, with perceived stricter time constraints than communications. Currently, most operators only rely on satellite timing to solve the time synchronization problem, and the time synchronization requirement of a base station system is met by installing a GPS (Global Positioning System ) satellite receiving module on the base station. The GPS timing mode has the defects of long-term potential safety hazard, high installation requirement, high cost, high failure rate and the like.
In addition, in the prior art, when the cooperative sensing of the objects is performed by a plurality of base stations, it is generally required to have a good line-of-sight signal between the sensing base stations, and when no line-of-sight signal exists between the base stations, it is difficult to effectively and accurately detect the detected objects, and as shown in fig. 1, when the space between the base stations 1 and 2 is blocked by a building, it is difficult to accurately sense information such as the position distance of the unmanned aerial vehicle.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The disclosure provides an object detection method, an object detection device, an electronic device and a computer readable storage medium, so as to at least overcome the problem that a detected object cannot be accurately perceived when no line-of-sight signal exists between base stations in the prior art to a certain extent.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
According to one aspect of the present disclosure, there is provided an object detection method including: receiving a first echo signal of a first detection signal sent by a first base station to a detected object; analyzing the first echo signal and determining communication perception information; eliminating offset information in the communication perception information and determining intermediate data; performing feature decomposition based on the intermediate data, and determining a signal transmission attitude parameter for transmitting a second detection signal to the detected object; and sending the second detection signal to the detected object according to the signal sending gesture parameter, and receiving a second echo signal of the second detection signal so as to determine an object detection result of the detected object according to the second echo signal.
In an exemplary embodiment of the present disclosure, the plurality of detected objects is a plurality, and the first base station corresponds to a first echo signal after sending a first probe signal to each detected object; the receiving the first echo signal of the first detection signal sent by the first base station to the detected object includes: receiving first echo signals of first detection signals sent by the first base station to a plurality of detected objects through a plurality of antennas; the step of eliminating the offset information in the communication perception information and determining intermediate data comprises the following steps: transforming each first echo signal to a frequency domain based on the communication perception information, and determining spectrum data of each first echo signal on the frequency domain; performing cross-correlation operation on the spectrum data of a plurality of antennas of the second base station, and eliminating offset information in the communication perception information to determine the intermediate data; wherein the intermediate data includes a first component and a second component.
In an exemplary embodiment of the disclosure, the transforming each of the first echo signals to a frequency domain based on the communication perception information, determining spectral data of each of the first echo signals in the frequency domain includes: constructing an orthogonal frequency division multiplexing signal waveform of the first detection signal; determining a modulation symbol of the first detection signal according to the orthogonal frequency division multiplexing signal waveform; and carrying out Fourier transform on the first echo signals based on the communication perception information, and determining the frequency spectrum data of each first echo signal on a frequency domain according to the modulation symbols.
In an exemplary embodiment of the disclosure, the performing a cross-correlation operation on spectrum data of a plurality of antennas of the second base station, and removing offset information in the communication perception information to determine the intermediate data, includes: performing point multiplication on the spectrum data of any antenna except the reference antenna in the second base station and the spectrum data of the reference antenna to determine the intermediate data; the intermediate data does not contain clock offset information and subcarrier frequency offset information.
In an exemplary embodiment of the present disclosure, after removing offset information in the communication awareness information to determine the intermediate data, the method further includes: filtering the intermediate data through a filter to extract the second component; the determining, based on the feature decomposition performed on the intermediate data, a signal transmission posture parameter for transmitting a second detection signal to the detected object includes: and carrying out feature decomposition on the second component, and determining a signal transmission attitude parameter for transmitting a second detection signal to each detected object.
In one exemplary embodiment of the present disclosure, the signaling gesture parameters include an angle of arrival parameter; the feature decomposition of the second component is performed, and the determining of the signal sending gesture parameter for sending the second detection signal to each detected object includes: acquiring a direction response vector, a coefficient matrix and array noise; constructing a target signal matrix according to the second component, the directional response vector, the coefficient matrix and the array noise; constructing a spatial spectrum according to the target signal matrix; and determining an arrival angle parameter of a second detection signal sent to each detected object by solving the spatial spectrum.
In an exemplary embodiment of the disclosure, the constructing a spatial spectrum according to the target signal matrix includes: performing eigenvalue decomposition on the covariance matrix of the target signal matrix to obtain eigenvectors of a noise space; constructing a noise matrix according to the feature vector of the noise space; and constructing a spatial spectrum according to the noise matrix.
According to an aspect of the present disclosure, there is provided an object detection apparatus applied to a second base station, including: the signal receiving module is used for receiving a first echo signal of a first detection signal sent by the first base station to the detected object; the information determining module is used for analyzing the first echo signal and determining communication perception information; the information elimination module is used for eliminating offset information in the communication perception information and determining intermediate data; the parameter determining module is used for performing feature decomposition based on the intermediate data and determining a signal sending gesture parameter for sending a second detection signal to the detected object; and the object detection module is used for sending the second detection signal to the detected object according to the signal sending gesture parameter, and receiving a second echo signal of the second detection signal so as to determine an object detection result of the detected object according to the second echo signal.
According to one aspect of the present disclosure, there is provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of any of the above via execution of the executable instructions.
According to one aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the above.
Exemplary embodiments of the present disclosure have the following advantageous effects:
receiving a first echo signal of a first detection signal sent by a first base station to a detected object; analyzing the first echo signal and determining communication perception information; eliminating offset information in communication perception information, and determining intermediate data; performing feature decomposition based on the intermediate data, and determining a signal transmission attitude parameter for transmitting a second detection signal to the detected object; and sending a second detection signal to the detected object according to the signal sending gesture parameter, and receiving a second echo signal of the second detection signal so as to determine an object detection result of the detected object according to the second echo signal. On the one hand, the present exemplary embodiment proposes a method for performing object detection by active and passive cooperation of multiple base stations, which processes, by a first base station, a first echo signal of a first detection signal sent by a detected object, determines a signal sending gesture parameter, and then actively sends a second detection signal to the detected object, and according to the second echo signal, realizes detection of the detected object, and can accurately and effectively perform an object detection process without any range signal in the presence of an obstacle between base stations, so that the application range is wide; on the other hand, the present exemplary embodiment avoids the problem that the accuracy of object detection is affected due to the information asynchronization between base stations by removing the offset information, and further ensures the accuracy of object detection.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 schematically shows a schematic view of a base station and a detected object;
fig. 2 to 3 schematically show a system configuration diagram of an object detection method in the present exemplary embodiment;
fig. 4 schematically shows a flowchart of an object detection method in the present exemplary embodiment;
fig. 5 schematically shows a system configuration diagram of another object detection method in the present exemplary embodiment;
fig. 6 schematically shows a sub-flowchart of an object detection method in the present exemplary embodiment;
fig. 7 schematically shows another sub-flowchart of an object detection method in the present exemplary embodiment;
Fig. 8 schematically shows still another sub-flowchart of an object detection method in the present exemplary embodiment;
fig. 9 schematically shows an interactive flowchart of an object detection method in the present exemplary embodiment;
fig. 10 schematically shows a schematic diagram of a spatial spectrum in the present exemplary embodiment;
fig. 11 schematically shows a range-speed radar chart in the present exemplary embodiment;
fig. 12 schematically shows a block diagram of a structure of an object detection apparatus in the present exemplary embodiment;
fig. 13 schematically shows an electronic device for implementing the above method in the present exemplary embodiment.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Exemplary embodiments of the present disclosure first provide an object detection method. Fig. 2 and 3 show a system architecture diagram of an operating environment of the present exemplary embodiment, and referring to fig. 2, the system 200 may include a first base station 210, a second base station 220, and a detected object 230. The detected object 230 may be an unmanned plane, an aircraft or other objects needing to be detected in a sensing manner, and no line-of-sight signal exists between the first base station 210 and the second base station 220, for example, the first base station and the second base station cannot directly communicate signals due to shielding by an obstacle. In this exemplary embodiment, the first base station 210 may first send a first detection signal to the detected object 230, and the second base station 220 first passively senses the detected object 230 according to the first echo signal of the first detection signal, so as to determine the signal sending gesture parameter. Further, as shown in fig. 3, the second base station 220 may send a second detection signal to the detected object 230 according to the signaling gesture parameter, and perform active sensing to determine an object detection result of the detected object 230.
It should be understood that the data of each device shown in fig. 1 is only exemplary, and any number of base stations or detected objects, etc. may be provided according to actual needs.
Based on the above description, the method in the present exemplary embodiment may be applied to the second base station 220 shown in fig. 2 or 3.
The following describes the present exemplary embodiment with reference to fig. 4, and as shown in fig. 4, the object detection method may include the following steps S410 to S450:
in step S410, a first echo signal of a first probe signal transmitted by a first base station to a detected object is received.
The base station refers to an interface device of the mobile device accessing the internet, and can transfer information with the mobile device through a mobile communication switching center in a certain radio coverage area. The first base station may be a neighboring base station of the second base station, for example, a base station closest to the second base station in a straight line, or may be any base station near the second base station, for example, a base station set to a preset distance in a preset direction of the second base station is the second base station. The first echo signal is a signal received by reflection after the first base station transmits a first probe signal to the object to be detected. In this exemplary embodiment, a plurality of antennas may be configured on the base station to transmit and receive signals, for example, the first base station may transmit the first probe signal to the detected object through the plurality of antennas, and the second base station may also receive the first echo signal through an idle antenna of the plurality of configured antennas.
Step S420, the first echo signal is analyzed to determine communication perception information.
The communication perception information may be information carried in the first echo signal, for example, perception information or an information matrix. After the second base station receives the first echo signal, the first echo signal can be analyzed by stripping communication information in each symbol of the first echo signal, communication perception information comprising an information matrix is determined, different time sequences in the perception symbol in the first echo signal and phases on subcarrier symbols can keep information such as target distance and radial speed of a detected object, and the perception detection of the detected object can be realized by further processing the communication perception information.
Step S430, eliminating the offset information in the communication perception information and determining the intermediate data.
Considering that there may be information differences between different base stations, for example, when sensing the detected object, even if the clocks between the base stations are assumed to be perfectly synchronized, there may still be a certain clock deviation, and although a small clock deviation may also significantly reduce the positioning performance of the detected object. Therefore, the present exemplary embodiment can cancel the offset information therein after determining the communication perception information, and determine the intermediate data after canceling the offset information. The offset information may include clock offset information, frequency offset information, or the like.
Step S440, performing feature decomposition based on the intermediate data, and determining a signal transmission posture parameter for transmitting the second probe signal to the detected object.
The second probe signal refers to a probe signal sent to the detected object when the second base station performs active sensing detection on the detected object, and the exemplary embodiment can determine a signal sending gesture parameter when the second probe signal is sent to the detected object through feature decomposition of intermediate data, where the signal sending gesture parameter refers to an index parameter of how the second probe signal is sent in a gesture, such as an arrival angle parameter, and the like. In addition, when the intermediate data is subjected to the feature decomposition, the intermediate data may be subjected to the data extraction first, and for example, a component including a symbol and a subcarrier may be extracted from the intermediate data, and further, the component may be subjected to the feature decomposition to determine a signal transmission posture parameter or the like.
In an exemplary embodiment, the plurality of detected objects are provided, and the first base station corresponds to a first echo signal after sending a first detection signal to each detected object; the step S410 may include:
first echo signals of first detection signals transmitted by a first base station to a plurality of detected objects are received through a plurality of antennas.
The present exemplary embodiment may be applied to a scenario in which a plurality of detected objects are detected, as shown in fig. 5, when a plurality of unmanned aerial vehicles need to be located, a first detection signal may be sent to each unmanned aerial vehicle a, b, c through a first base station 510, and a second base station 520 may receive, through a plurality of antennas, a first echo signal reflected by each first detection signal after reaching the unmanned aerial vehicle a, b, c, and process the first echo signal.
As shown in fig. 6, the step S430 may include the following steps:
step S610, transforming each first echo signal to a frequency domain based on communication perception information, and determining spectrum data of each first echo signal on the frequency domain;
step S620, performing cross-correlation operation on the spectrum data of a plurality of antennas of the second base station, and eliminating offset information in communication perception information to determine intermediate data;
wherein the intermediate data comprises a first component and a second component.
The present exemplary embodiment may determine spectral data of each antenna in the frequency domain, that is, spectral data of the first echo signal received by each antenna in the frequency domain, by transforming the first echo signal to the frequency domain after the first echo signal is received by the plurality of antennas. Further, through operation among the spectrum data of the plurality of antennas, cross-correlation operation is carried out on the plurality of antennas, offset information in communication perception information is eliminated, and intermediate data is determined. The intermediate data includes a first component and a second component, wherein the first component is a static component and the second component is a dynamic component.
In an exemplary embodiment, the step S610 may include:
constructing an orthogonal frequency division multiplexing signal waveform of the first detection signal;
determining a modulation symbol of the first detection signal according to the waveform of the orthogonal frequency division multiplexing signal;
and carrying out Fourier transform on the first echo signals based on the communication perception information, and determining the frequency spectrum data of each first echo signal on the frequency domain according to the modulation symbols.
The present exemplary embodiment may first construct an OFDM orthogonal frequency division multiplexing (Orthogonal Frequency Division Multiplexing, orthogonal frequency division multiplexing technique) signal waveform thereof based on a first probe signal transmitted from a first base station to a detected object, and determine a modulation symbol of the first probe signal.
Specifically, in the OFDM signal waveform for constructing the first sounding signal, the mth preamble symbol at the t-th time may be expressed as:
wherein x [ m, g ]]Is the modulation symbol transmitted on the g-th subcarrier of the m-th preamble symbol,representing a length of T+T C G is the number of sub-carriers with sub-carrier spacing +.>T denotes the length of the OFDM symbol. Wherein, the OFDM symbol is a frequency domain sequence, which is composed of points and energy containing different components, and is a basic unit for transmitting information on subcarriers. Due to multipath delay, the OFDM symbols may generate inter-symbol interference when arriving at the receiving end, and may be different After reaching the receiving end, the subcarriers cannot maintain absolute orthogonality and there is interference among multiple carriers, so in this exemplary embodiment, each OFDM symbol may have a period of T C CP (Cyclic Prefix). The cyclic prefix is used to reduce intersymbol interference by copying the tail segment of each OFDM symbol before the symbol.
And when a plurality of first echo signals exist, correspondingly, a plurality of frequency spectrum data can be determined, and the determination of the frequency spectrum data can comprise x [ m, g ]. Specifically, when receiving the first echo signals reflected by the L detected objects between the second base station and the first base station, such as NLOS (Non Line of Sight, non-line-of-sight) path signals, the second base station transforms the first echo signals to the frequency domain, and the expression of the spectrum data of the first echo signals received through the nth antenna is as follows:
the above expression is a frequency domain expression obtained by removing the cyclic prefix from the received time domain signal of the first echo signal and then subjecting the first echo signal to the G-point fast fourier transform. The second base station may receive the preamble using a Uniform Linear Array (ULA) of N antennas. Alpha l 、f D，l 、τ l And theta l Respectively, the channel gain, doppler frequency, propagation delay and AoA (Angle-of-Arrival, angle ranging) of the first echo signal path (e.g., the first echo signal reflected by the first detected object). Since there is typically no clock level synchronization between the base stations, there is also unknown time variation of the received signal, denoted delta τ (m). Because the carrier frequencies are not synchronized, the receiver signal also has an unknown frequency offset, denoted delta f (m). Wherein the method comprises the steps ofy n [m，g]For the received frequency domain signal on the g sub-carrier at the nth receiving antenna of the mth OFDM preamble symbol, Z n [m，g]Zero mean and variance sigma 2 Additive white gaussian noise of (c).d is the antenna spacing, lambda is the wavelength, theta l AoA is the first detected object. Consider |x [ m, g]| 2 The actual value of (2) has little effect on the subsequent processes, which can be assumed by the present exemplary embodiment to be |x [ m, g]| 2 ＝1。
In an exemplary embodiment, the step S620 may include:
performing point multiplication on the spectrum data of any antenna except the reference antenna in the second base station and the spectrum data of the reference antenna to determine intermediate data;
the intermediate data does not contain clock offset information and subcarrier frequency offset information.
In the present exemplary embodiment, the second base station may include an 0 th antenna, …, and an n+1 th antenna in total for receiving the first echo signal. The reference antenna may be one of a plurality of antennas for receiving the first echo signal, and may be a random antenna or a specific antenna, for example, the 0 th antenna is used as the reference antenna. Any antenna except the reference antenna is subjected to cross-correlation processing with the reference antenna, for example, the 1 st antenna is subjected to cross-correlation processing with the 0 th antenna, the 2 nd antenna is subjected to cross-correlation processing with the 0 th antenna, or the 3 rd antenna is subjected to cross-correlation processing with the 0 th antenna, so that offset information in communication perception information is eliminated, and intermediate data is determined. All antennas except the reference antenna may be respectively cross-correlated with the reference antenna, or some antennas in all antennas except the reference antenna may be respectively cross-correlated with the reference antenna, which is not specifically limited in the present disclosure.
Taking the cross-correlation processing of the nth antenna and the 0 th antenna as an example for explanation, the nth antenna may be any antenna,the intermediate data ρ can be determined by performing a dot product operation on the spectral data of the nth antenna and the spectral data of the 0 th antenna n (m, g) as follows:
wherein f l，x ＝f D，l -f D，x ，τ l，x ＝τ l -τ x . After the cross-correlation operation according to the antenna, a second componentClock offset information delta for phase section τ (m) and subcarrier frequency offset information delta f (m) are eliminated.
In an exemplary embodiment, after removing the offset information in the communication perception information to determine the intermediate data, the above target detection method may further include:
filtering the intermediate data through a filter to extract a second component;
the step S440 may include:
and performing feature decomposition on the second component, and determining a signal transmission attitude parameter for transmitting a second detection signal to each detected object.
Taking into account the second component in the intermediate dataIs a dynamic component related to m and g, its 2D-FFT also has a pulse shape, and the first component +.>Irrespective of m and g, therefore, the present exemplary embodiment can extract the dynamic second component +_by the second order filter with respect to m and g >Subsequent signal processing is performed. Further, it can be made byThe method of syndrome analysis estimates a signal transmission attitude parameter, such as an angle of arrival parameter, that transmits a second probe signal to the object under test.
Fig. 7 shows a sub-flowchart of an object detection method in the present exemplary embodiment, which may specifically include the following steps:
step S710, the first base station transmits OFDM signal waveforms to a plurality of detected objects;
step S720, the second base station receives first echo signals reflected by a plurality of detected objects between the second base station and the first base station;
step S730, performing cross-correlation operation on the spectrum data of the nth antenna and the reference antenna in the second base station, and determining intermediate data to eliminate the influence of clock offset information and frequency offset information in communication perception information on the phase;
step S740, filtering the intermediate data through a second-order filter;
step S750, filtering out a first component, wherein the first component is a static component;
step S760, extracting a second component, wherein the second component is a dynamic component;
in step S770, a subsequent signal processing procedure is performed based on the second component.
In an exemplary embodiment, the signaling gesture parameters include an angle of arrival parameter; the performing feature decomposition on the second component to determine a signal transmission gesture parameter for transmitting a second detection signal to each detected object may include:
Acquiring a direction response vector, a coefficient matrix and array noise;
constructing a target signal matrix according to the second component, the directional response vector, the coefficient matrix and the array noise;
constructing a spatial spectrum according to the target signal matrix;
and determining an arrival angle parameter of the second detection signal sent to each detected object by solving the spatial spectrum.
The present exemplary embodiment can construct the target signal matrix P from the second component, the directional response vector, the coefficient matrix, and the array noise, and specifically can be expressed by the following formula:
P＝AS+N (4)
wherein P is the output of the array element, A is the directional response vector, N represents the array noise, S is the coefficient matrix, and P is determined by the second components of the first echo signals received by different antennas.
Specifically, the array element output P, the coefficient matrix S, the array noise N, and the directional response vector a are respectively determined by the following formulas:
S＝[S 0 ，S 1 ，...，S L-1 ] T (6)
N＝[n 0 (t)，n 1 (t)，...，n N-1 (t)] T (7)
wherein, the liquid crystal display device comprises a liquid crystal display device,
in an exemplary embodiment, the constructing a spatial spectrum according to the target signal matrix may include:
performing eigenvalue decomposition on a covariance matrix of the target signal matrix to obtain eigenvectors of a noise space;
constructing a noise matrix according to the feature vector of the noise space;
and constructing a spatial spectrum according to the noise matrix.
The present exemplary embodiment may obtain a feature vector of a noise space by decomposing a feature value of a covariance matrix in the target signal matrix P, and construct the obtained noise matrix. Specifically, a covariance matrix R of the target signal matrix P is obtained according to a covariance formula p Can be expressed as:
R p ＝E(PP H )＝AR S A H +R N (12)
by exploiting the mutually independent nature of signal and noise, the covariance matrix R can be obtained p Split into two parts, namely a signal subspace part AR S A H And a noise subspace part R N ＝σ 2 I。
For the obtained covariance matrix R p Performing the eigenvalue decomposition may include obtaining a rank and eigenvalue of the output matrix, and constructing a diagonal matrix of eigenvectors and eigenvalues of the covariance matrix from the eigenvalues, which may be expressed as:
R P ＝U S ∑ s U S H +U N ∑ N U N H (13)
wherein R is p There are N eigenvalues { lambda } 1 、λ 2 、...、λ N Sum of the corresponding eigenvectors v 1 、v 2 、...、v N And the characteristic values are sorted according to the sizes of the characteristic values. The noise energy is much smaller relative to the signal energy, therefore, L of the larger eigenvalues { lambda } 1 、λ 2 、...、λ L Corresponding to L signals, the remaining N-L minimum eigenvalues { lambda } L+1 、λ L+2 、...，λ N And the noise.
Wherein R is S Is a signal correlation matrix, R N Is a noise correlation matrix, and R N ＝σ 2 I，σ 2 Is the noise power, I is the N identity matrix, lambda L+1 ＝λ L+2 ＝...＝λ N ＝σ 2 ≈0。
Further, the noise can be constructed by utilizing the noise eigenvector obtained by eigenvalue decomposition Acoustic matrix U n The noise matrix may be used for spatial spectrum construction. The construction of the noise matrix may include: N-L noise eigenvalues and noise eigenvectors obtained after the decomposition of the eigenvalues in the last step are regarded as noise part space, and a noise matrix U is constructed n Wherein the noise space and the signal space satisfy an orthogonality condition:
U n ＝[v L ，v L+1 ，...，v N-l ] (14)
wherein A is H v i ＝0，i＝L+1，L+2，...，N。
In the present exemplary embodiment, after the spatial spectrum construction is completed, the arrival angle θ of the signal can be solved by using the orthogonality of the signal space and the noise space, and when there are l detected objects, a plurality of arrival angles, denoted as θ, can be solved correspondingly l 。
Wherein the spatial spectrum may be constructed by the following formula:
in the above formula, the denominator is the inner product of the signal vector and the noise matrix, when a (θ) and U n When the rows of (a) are orthogonal, the denominator is zero, but due to the presence of noise, a sharp peak appears in the noise spectrum P (θ), and θ corresponding to the peak is an estimated value of the arrival direction of the signal. By this, θ is changed, and the arrival angle θ of each propagation path of the signal is estimated by searching the spectral peak of the spatial spectral function l 。
Fig. 8 shows a sub-flowchart of another object detection method in the present exemplary embodiment, which may specifically include the following steps:
Step S810, the second base station determines intermediate data for eliminating clock offset information and subcarrier frequency offset information through a plurality of antenna joint cross-correlation operations;
step S820, filtering the intermediate data to determine a dynamic component, namely a second component;
step S830, constructing a target signal matrix based on the dynamic components;
step S840, decomposing the covariance matrix of the target signal matrix as a characteristic value to obtain a characteristic vector of the noise space;
step S850, constructing a noise matrix by using the feature vector of the noise space;
in step S860, a spatial spectrum is constructed according to the noise matrix, and the orthogonality of the signal space and the noise space is utilized to solve the angle of arrival parameters, such as the direction of arrival, of the second detection signal.
Step S450, transmitting a second detection signal to the detected object according to the signal transmission gesture parameter, and receiving a second echo signal of the second detection signal, so as to determine an object detection result of the detected object according to the second echo signal.
The step is a process that the second base station actively perceives the detected object, after determining the sending gesture parameter, the second base station can send a second detection signal to the detected object according to the sending gesture parameter, so as to perceive the detected object, when the second detection signal contacts the detected object, the second detection signal can reflect the second echo signal, the second base station analyzes the reflected second echo signal by receiving the second echo signal, for example, the second echo signal is transformed into a frequency domain, and through analyzing the frequency spectrum data, an object detection result of the detected object is determined, and the object detection result can comprise information such as the distance, the flying speed and the like of the detected object, so that the detected object can be accurately positioned.
Based on the above description, in the present exemplary embodiment, a first echo signal of a first probe signal transmitted by a first base station to a detected object is received; analyzing the first echo signal and determining communication perception information; eliminating offset information in communication perception information, and determining intermediate data; performing feature decomposition based on the intermediate data, and determining a signal transmission attitude parameter for transmitting a second detection signal to the detected object; and sending a second detection signal to the detected object according to the signal sending gesture parameter, and receiving a second echo signal of the second detection signal so as to determine an object detection result of the detected object according to the second echo signal. On the one hand, the present exemplary embodiment proposes a method for performing object detection by active and passive cooperation of multiple base stations, which processes, by a first base station, a first echo signal of a first detection signal sent by a detected object, determines a signal sending gesture parameter, and then actively sends a second detection signal to the detected object, and according to the second echo signal, realizes detection of the detected object, and can accurately and effectively perform an object detection process without any range signal in the presence of an obstacle between base stations, so that the application range is wide; on the other hand, the present exemplary embodiment avoids the problem that the accuracy of object detection is affected due to the information asynchronization between base stations by removing the offset information, and further ensures the accuracy of object detection.
Fig. 9 shows an interaction flow chart of an object detection method in the present exemplary embodiment, which may specifically include the following steps:
the first base station 910 performs step S911 to transmit a first probe signal to the detected object;
the second base station 920, performing step S921, receives the first echo signal of the first probe signal reflected by the detected object;
step S922, extracting communication perception information from the first echo signal;
step S923, performing cross-correlation operation on the spectrum data corresponding to the plurality of antennas, and determining intermediate data to eliminate clock offset information and subcarrier frequency offset information in the communication perception information;
step S924, performing feature decomposition on the intermediate data, and estimating an arrival angle direction of the intermediate data to the detected object;
step S925, transmitting a second probe signal along the direction of arrival and receiving a second echo signal transmitted by the second probe signal;
in step S926, distance information and velocity information are extracted from the second echo signal to estimate the detected object.
Steps 923 to S926 are processes of multi-base station cooperative active passive sensing of the detected object, wherein steps 923 and S924 are dual-base station passive sensing processes, and steps 925 and S926 are active sensing processes.
Taking the object detection scenario shown in fig. 5 as an example, there is no view component, i.e. no line-of-sight signal, between the two sense-of-sight integrated first base station 510 and the second base station 520 in the urban scenario. The three target aircrafts a, b and c in the scene have propagation delays of 0.2 mu s, 0.3 mu s and 0.1 mu s respectively relative to the second base station 520 with integrated sense, and the corresponding distances are 60 meters, 90 meters and 30 meters respectively. The speeds of the 3 targets of the target aircrafts a, b and c are respectively 15m/s, 20m/s and-5 m/s, and the corresponding Doppler frequencies are 150Hz, 200Hz and-50 Hz. The AoAs of the 3 target aircraft are-30 °, 10 °, 60 °, respectively. All target aircraft were modeled as point sources, assuming a radar cross section of 1. The carrier frequency is 3GHz. The number of subcarriers is g=256. The frequency bandwidth is 128mhz and the ofdm symbol period T is 2 mus. The CP has a length d=50 to avoid intersymbol interference (ISI) and a CP period TC of about 0.4 μs. The approximate interval between two data packets TA (transmitter addresses) is 1 millisecond. The sensing parameter estimation is performed using the preamble in the m=128 data packets. The base station employs ULA with n=4 antenna elements. Assuming that there are no LOS (Line of Sight) paths between base stations, there are three target drones, so the receiving end (i.e. the second base station) can receive the first echo signals of l=3 NLOS paths.
In this exemplary embodiment, the first base station transmits a first probe signal, such as an OFDM signal s (t|m), to the unmanned aerial vehicle, and the first echo signal reflected back to the first base station is beyond the active sensing range of the first base station when the first echo signal energy is insufficient to support the target detection task. Communication idle antenna of communication sense integrated second base station close to aircraft when the port receives a first echo signal of a downlink first probe signal of a first base station, and the second base station is used as a receiving end of the first echo signal to perform double-base station passive sensing.
The present exemplary embodiment may use the preamble in the m=128 data packet to perform sensing parameter estimation, and the receiving end array antenna of the second integrated sensing base station extracts channel information including delay and doppler shift after receiving the signal. After removing CP from the received time domain signal, the second base station transforms the signal to the frequency domain by a G-point fft, determines spectral data by formula (2), where l=3, f D，0 ＝150HZ，f D，1 ＝200HZ，f D，2 ＝-50HZ，τ 0 ＝0.2μs，τ 1 ＝0.3μs，τ 2 ＝0.1μs，δ τ (m) and delta f (m) is a random clock offset and subcarrier frequency offset due to clock dyssynchrony.
The nth antenna in the second base station and the spectrum data of the 0 th antenna are subjected to cross correlation to determine intermediate data rho n (m, g) clock offset delta after antenna cross correlation operation τ (m) and subcarrier frequency offset delta f (m) are eliminated. Extracting components by a second order filter with respect to m, g
Further by constructing the target signal matrix P, the manner in which the spatial spectrum P (θ) is defined, the angle of arrival parameters for transmitting the second probe signals to the 3 target aircraft are determined. In defining the spatial spectrum P (θ), the arrival angle is estimated by varying θ and finding peaks, fig. 10 shows a schematic diagram of a spatial spectrum in this exemplary embodiment, where peaks occur when θ is-30 °,10 °,60 °, respectively, and thus AOAs of three targets are estimated to be-30 °,10 °,60 °, respectively, in conformity with the actual emission angle.
After the arrival angle parameters are obtained, the second base station can send second detection signals to the directions of the three target aircrafts respectively for active sensing to obtain three second echo signals, and the general expression is as follows:
since the second base station is self-receiving during active sensing, there is no clock offset. And respectively performing FFT (fast Fourier transform) and IFFT (inverse fast Fourier transform) on the signals of the active sensing second echo to obtain a two-dimensional distance-speed radar diagram of the target aircraft, and further extracting the distance and speed information of the target aircraft as shown in FIG. 11.
From two-dimensional distance-velocity radar mapsSee, the corresponding distances and speeds of the three target aircraft detected by the present exemplary embodiment are r, respectively 1 ＝60.3947m，v 1 ＝15.0189m/s；r 2 ＝90.3947m，v 2 ＝20.0252m/s；r 3 ＝30m，v 3 = -5.0063m/s. And the target actual parameter is R 1 ＝60m，V 1 ＝15m/s，R 2 ＝90m，V 2 ＝20m/s，R 3 ＝30m，V 3 = -5m/s. The distance measurement error is +/-0.2631 m, the speed measurement error is +/-0.0168 m/s, and the distance measurement error is close to the true value of the perception target and is acceptable.
Exemplary embodiments of the present disclosure also provide an object detection apparatus. Referring to fig. 12, the apparatus 1200 may include a signal receiving module 1210 configured to receive a first echo signal of a first probe signal transmitted by a first base station to a detected object; the information determining module 1220 is configured to parse the first echo signal to determine communication perception information; the information elimination module 1230 is configured to eliminate offset information in the communication perception information, and determine intermediate data; a parameter determining module 1240, configured to perform feature decomposition based on the intermediate data, and determine a signal transmission gesture parameter for transmitting a second detection signal to the detected object; the object detection module 1250 is configured to send a second detection signal to the detected object according to the signal sending gesture parameter, and receive a second echo signal of the second detection signal, so as to determine an object detection result of the detected object according to the second echo signal.
In an exemplary embodiment, the number of the detected objects is multiple, and the first base station corresponds to a first echo signal after sending a first detection signal to each detected object; the signal receiving module is used for receiving first echo signals of first detection signals sent by the first base station to a plurality of detected objects through a plurality of antennas; an information cancellation module comprising: the signal conversion unit is used for converting each first echo signal into a frequency domain based on communication perception information and determining frequency spectrum data of each first echo signal in the frequency domain; the cross-correlation operation unit is used for carrying out cross-correlation operation on the frequency spectrum data of the plurality of antennas of the second base station, and eliminating offset information in communication perception information so as to determine intermediate data; wherein the intermediate data comprises a first component and a second component.
In one exemplary embodiment of the present disclosure, a signal conversion unit includes: a waveform construction subunit, configured to construct an orthogonal frequency division multiplexing signal waveform of the first detection signal; determining a modulation symbol of the first detection signal according to the waveform of the orthogonal frequency division multiplexing signal; and carrying out Fourier transform on the first echo signals based on the communication perception information, and determining the frequency spectrum data of each first echo signal on the frequency domain according to the modulation symbols.
In an exemplary embodiment of the present disclosure, a cross-correlation operation unit includes: a point multiplication operation subunit, configured to perform point multiplication on spectrum data of any antenna except the reference antenna in the second base station and spectrum data of the reference antenna, and determine intermediate data; the intermediate data does not contain clock offset information and subcarrier frequency offset information.
In an exemplary embodiment of the present disclosure, the apparatus further comprises: the filtering unit is used for eliminating offset information in the communication perception information so as to determine intermediate data, and then filtering the intermediate data through a filter to extract a second component; a parameter determination module, comprising: and a parameter determination unit for performing feature decomposition on the second component and determining a signal transmission attitude parameter for transmitting a second detection signal to each detected object.
In one exemplary embodiment of the present disclosure, the signaling gesture parameters include an angle of arrival parameter; a parameter determination unit comprising: the data acquisition unit is used for acquiring a direction response vector, a coefficient matrix and array noise; the signal matrix construction unit is used for constructing a target signal matrix according to the second component, the directional response vector, the coefficient matrix and the array noise; the spatial spectrum construction unit is used for constructing a spatial spectrum according to the target signal matrix; and the spatial spectrum solving unit is used for determining an arrival angle parameter for transmitting the second detection signal to each detected object by solving the spatial spectrum.
In an exemplary embodiment of the present disclosure, a spatial spectrum construction unit includes: the characteristic value decomposition subunit is used for carrying out characteristic value decomposition on the covariance matrix of the target signal matrix to obtain a characteristic vector of the noise space; the noise matrix construction subunit is used for constructing a noise matrix according to the feature vector of the noise space; and the spatial spectrum construction subunit is used for constructing a spatial spectrum according to the noise matrix.
The specific details of each module/unit in the above apparatus are already described in the embodiments of the method section, and the details not disclosed can be found in the embodiments of the method section, so that they will not be described here again.
The exemplary embodiments of the present disclosure also provide an electronic device capable of implementing the above method.
Those skilled in the art will appreciate that the various aspects of the present disclosure may be implemented as a system, method, or program product. Accordingly, various aspects of the disclosure may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device 1300 according to such an exemplary embodiment of the present disclosure is described below with reference to fig. 13. The electronic device 1300 shown in fig. 13 is merely an example and should not be construed to limit the functionality and scope of use of embodiments of the present disclosure in any way.
As shown in fig. 13, the electronic device 1300 is embodied in the form of a general purpose computing device. The components of the electronic device 1300 may include, but are not limited to: the at least one processing unit 1310, the at least one memory unit 1320, a bus 1330 connecting the different system components (including the memory unit 1320 and the processing unit 1310), and a display unit 1340.
Wherein the storage unit stores program code that is executable by the processing unit 1310 such that the processing unit 1310 performs steps according to various exemplary embodiments of the present disclosure described in the above section of the "exemplary method" of the present specification. For example, the processing unit 1310 may perform the steps shown in fig. 4, 6, 7, 8, or 9, etc.
The storage unit 1320 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.
The storage unit 1320 may also include a program/utility 1324 having a set (at least one) of program modules 1325, such program modules 1325 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 1330 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.
The electronic device 1300 may also communicate with one or more external devices 1400 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 1300, and/or any device (e.g., router, modem, etc.) that enables the electronic device 1300 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 1350. Also, the electronic device 1300 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, for example, the Internet, through a network adapter 1360. As shown, the network adapter 1360 communicates with other modules of the electronic device 1300 over the bus 1330. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 1300, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the exemplary embodiments of the present disclosure.
Exemplary embodiments of the present disclosure also provide a computer readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification. In some possible implementations, various aspects of the disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the disclosure as described in the "exemplary methods" section of this specification, when the program product is run on the terminal device.
Exemplary embodiments of the present disclosure also provide a program product for implementing the above method, which may employ a portable compact disc read-only memory (CD-ROM) and comprise program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described figures are only schematic illustrations of processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with exemplary embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. An object detection method, applied to a second base station, comprising:
receiving a first echo signal of a first detection signal sent by a first base station to a detected object;
analyzing the first echo signal and determining communication perception information;
eliminating offset information in the communication perception information and determining intermediate data;
performing feature decomposition based on the intermediate data, and determining a signal transmission attitude parameter for transmitting a second detection signal to the detected object;
and sending the second detection signal to the detected object according to the signal sending gesture parameter, and receiving a second echo signal of the second detection signal so as to determine an object detection result of the detected object according to the second echo signal.
2. The method of claim 1, wherein the plurality of detected objects are provided, and the first base station transmits a first probe signal to each detected object and then corresponds to a first echo signal;
The receiving the first echo signal of the first detection signal sent by the first base station to the detected object includes:
receiving first echo signals of first detection signals sent by the first base station to a plurality of detected objects through a plurality of antennas;
the step of eliminating the offset information in the communication perception information and determining intermediate data comprises the following steps:
transforming each first echo signal to a frequency domain based on the communication perception information, and determining spectrum data of each first echo signal on the frequency domain;
performing cross-correlation operation on the spectrum data of a plurality of antennas of the second base station, and eliminating offset information in the communication perception information to determine the intermediate data;
wherein the intermediate data includes a first component and a second component.
3. The method of claim 2, wherein the transforming each of the first echo signals to the frequency domain based on the communication perception information, determining spectral data of each of the first echo signals in the frequency domain, comprises:
constructing an orthogonal frequency division multiplexing signal waveform of the first detection signal;
determining a modulation symbol of the first detection signal according to the orthogonal frequency division multiplexing signal waveform;
And carrying out Fourier transform on the first echo signals based on the communication perception information, and determining the frequency spectrum data of each first echo signal on a frequency domain according to the modulation symbols.
4. The method of claim 2, wherein cross-correlating the spectral data of the plurality of antennas of the second base station to eliminate offset information in the communication perception information to determine the intermediate data comprises:
performing point multiplication on the spectrum data of any antenna except the reference antenna in the second base station and the spectrum data of the reference antenna to determine the intermediate data;
the intermediate data does not contain clock offset information and subcarrier frequency offset information.
5. The method of claim 2, wherein after removing offset information in the communication awareness information to determine the intermediate data, the method further comprises:
filtering the intermediate data through a filter to extract the second component;
the determining, based on the feature decomposition performed on the intermediate data, a signal transmission posture parameter for transmitting a second detection signal to the detected object includes:
And carrying out feature decomposition on the second component, and determining a signal transmission attitude parameter for transmitting a second detection signal to each detected object.
6. The method of claim 5, wherein the signaling attitude parameters include angle of arrival parameters; the feature decomposition of the second component is performed, and the determining of the signal sending gesture parameter for sending the second detection signal to each detected object includes:
acquiring a direction response vector, a coefficient matrix and array noise;
constructing a target signal matrix according to the second component, the directional response vector, the coefficient matrix and the array noise;
constructing a spatial spectrum according to the target signal matrix;
and determining an arrival angle parameter of a second detection signal sent to each detected object by solving the spatial spectrum.
7. The method of claim 6, wherein constructing a spatial spectrum from the target signal matrix comprises:
performing eigenvalue decomposition on the covariance matrix of the target signal matrix to obtain eigenvectors of a noise space;
constructing a noise matrix according to the feature vector of the noise space;
and constructing a spatial spectrum according to the noise matrix.
8. An object detection apparatus for use with a second base station, the apparatus comprising:
the signal receiving module is used for receiving a first echo signal of a first detection signal sent by the first base station to the detected object;
the information determining module is used for analyzing the first echo signal and determining communication perception information;
the information elimination module is used for eliminating offset information in the communication perception information and determining intermediate data;
the parameter determining module is used for performing feature decomposition based on the intermediate data and determining a signal sending gesture parameter for sending a second detection signal to the detected object;
and the object detection module is used for sending the second detection signal to the detected object according to the signal sending gesture parameter, and receiving a second echo signal of the second detection signal so as to determine an object detection result of the detected object according to the second echo signal.
9. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any of claims 1-7 via execution of the executable instructions.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1-7.
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